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WO2023243867A1 - Borne de recharge de robot et procédé de recharge de robot - Google Patents

Borne de recharge de robot et procédé de recharge de robot Download PDF

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Publication number
WO2023243867A1
WO2023243867A1 PCT/KR2023/006420 KR2023006420W WO2023243867A1 WO 2023243867 A1 WO2023243867 A1 WO 2023243867A1 KR 2023006420 W KR2023006420 W KR 2023006420W WO 2023243867 A1 WO2023243867 A1 WO 2023243867A1
Authority
WO
WIPO (PCT)
Prior art keywords
robot
charging
link
charging station
wheel
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/KR2023/006420
Other languages
English (en)
Korean (ko)
Inventor
최동규
홍을표
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
LG Electronics Inc
Original Assignee
LG Electronics Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by LG Electronics Inc filed Critical LG Electronics Inc
Priority to CN202380047038.1A priority Critical patent/CN119365302A/zh
Priority to EP23824093.1A priority patent/EP4527563A4/fr
Publication of WO2023243867A1 publication Critical patent/WO2023243867A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/005—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators using batteries, e.g. as a back-up power source
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0003—Home robots, i.e. small robots for domestic use
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/028—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members having wheels and mechanical legs
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/0042—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/0042—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction
    • H02J7/0044—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction specially adapted for holding portable devices containing batteries
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/02—Docking stations; Docking operations
    • A47L2201/022—Recharging of batteries

Definitions

  • the present invention relates to a charging station for a robot and a method for charging a robot. More specifically, it relates to a charging station configured to allow the robot to enter forward movement when climbing into the charging station and to escape to forward movement even when the robot leaves the charging station after charging is completed, and a method of charging a robot using the same. .
  • Household robots are robots that perform household tasks on behalf of people, such as helping with housework such as cleaning or controlling home appliances, or robots that use artificial intelligence (AI) to act as a user's assistant or provide training to the user. , or robots that replace companion animals.
  • AI artificial intelligence
  • Home robots include robots that perform functions while fixed in a specific location, as well as mobile robots that can move.
  • mobile robots that replace the user or move around the house following the user are mainly used.
  • two-wheeled robots with two wheels have the advantage of occupying a small amount of ground space.
  • Household robots like conventional cleaning-only mobile robots, are driven using built-in batteries, and therefore require periodic charging of the batteries.
  • a charging station similar to the charging station of a conventional cleaning robot may be provided in the home robot.
  • Korean Patent No. 0575703 discloses a system and method for returning to the charging base of a robot vacuum cleaner.
  • the charging station return system disclosed in the prior literature guides the robot vacuum cleaner to the charging station detection area by a supporter sensor, and after the robot vacuum cleaner is guided to a specific location, it recognizes the charging station in three dimensions using the supporter sensor and the charging station sensor, thereby returning the charging station to the charging station. It is configured to dock to.
  • the robot vacuum cleaner that has been delivered to a specific location rotates 180 degrees and moves backwards, docking on the charging base.
  • a household robot equipped with two wheels and a main body and having a structure in which the main body and wheels are connected through legs has a center of gravity at a high position and does not have a separate support point with the ground other than the two wheels, so the above prior literature It is not easy to rotate in place like a robot vacuum cleaner, and even if rotation is attempted, there is a problem in that the position of the center point is misaligned.
  • the robot is configured to climb the charging station by moving forward, a problem arises in that it can only leave the charging station by moving backward after charging is completed.
  • the purpose of the present invention is to provide a charging station in which a robot can both enter the charging station and leave the charging station through forward movement, and a method of charging a robot using the same.
  • Another object of the present invention is to provide a charging station that is fixedly coupled to a robot during charging and a method of charging a robot using the same.
  • One embodiment of the present invention is a charging station that supplies power to a robot to charge it, comprising: a station main body that has a space inside and is placed on the ground so that the robot can approach and climb; a rotating part disposed on the station main body and coupled to the station main body to enable relative rotation; and a charging unit that is coupled to the upper part of the rotating unit and rotates together with the rotation of the rotating unit, and is provided with a power supply terminal for charging the robot.
  • the station main body may include an inclined portion disposed at an entrance where the robot climbs and having an upward slope toward the front of the direction in which the robot enters. there is.
  • the inclined portion may be provided with a wheel guide portion in which grooves are formed to guide movement of the robot with respect to the wheels.
  • the wheel guide unit is formed so that the entrance through which the robot climbs has a width of the groove larger than the width of the wheel, and the width of the groove becomes narrower compared to the entrance as it moves toward the front of the robot's climbing path. You can.
  • the rotating part includes a seating plate on which the wheels of the robot are seated and rotated by rotation of a motor; and a power transmission unit that is accommodated in the internal space of the station main body together with the motor and transmits power generated by rotation of the motor to the seating plate.
  • the seating plate includes a wheel insertion groove disposed at the stopping position of the left and right wheels of the robot so that the robot stops at a fixed position; and a robot detection button disposed in the wheel insertion groove and detecting the weight of the robot.
  • the power transmission unit includes: a first transmission unit that rotates by receiving rotational power of the motor; a belt connected to the first transmission unit; and a second transmission unit coaxially coupled to the seating plate and connected to the belt to rotate the seating plate by receiving rotational force from the first transmission unit.
  • the power transmission unit may further include a tensioner that adjusts tension of the belt.
  • the rotating part includes a protrusion connected to the outer peripheral surface of the second transmission unit so as to protrude outward in the circumferential direction of the second transmission unit; and a micro switch disposed at a position that contacts the protrusion by rotation of the second transmission unit.
  • the charging unit includes: a charging unit main body disposed between the left and right wheels of the robot based on the state in which the robot climbs on the rotating unit; and a coupling groove disposed on the upper part of the charging unit main body and into which the coupling member of the robot is inserted.
  • the charging unit may further include a coupling hook disposed in the coupling groove and engaged with a coupling member of the inserted robot.
  • one end of the charging unit is adjacent to the coupling hook, and when one end of the coupling hook is caught on the coupling member of the robot, the other end of the coupling hook is connected to the coupling hook.
  • One embodiment of the present invention is a method of charging a robot performed by a robot system including a robot and a charging station that supplies power to the robot to charge it, wherein the wheel of the robot stands on the rotating part of the charging station. climbing steps; A coupling step of electrically coupling the charging terminal of the robot and the power supply terminal of the charging station to each other so that power is supplied to the robot; and a rotation step in which the rotating part of the charging station rotates together with the robot to change the direction in which the front of the robot is facing by 180 degrees.
  • the robot includes: a robot body provided with the charging terminal; Leg parts disposed on the left and right sides of the robot body, respectively, and coupled to the wheel that rolls over the ground; and a suspension motor accommodated in the robot body and connected to the left and right leg portions respectively to provide driving force to the leg portions.
  • the coupling step causes the leg unit to move the robot body downward through driving the suspension motor, so that the charging terminal and the power supply terminal contact each other.
  • a robot body lowering step that is coupled; and a robot body fixing step in which a coupling member disposed on a lower side of the robot body and a coupling hook disposed on an upper side of the charging station are engaged with each other.
  • a method for charging a robot comprising: a release step of disconnecting the charging terminal and the power supply terminal; and a return rotation step of rotating the rotating unit to return to its initial position after the robot leaves the charging station.
  • Another embodiment of the robot charging method performed by the robot system includes an entry step in which the robot moves to approach the charging station and climbs the station body of the charging station; A charging step in which a charging terminal provided in the robot and a power supply terminal provided in the charging station electrically contact each other; and a departure step of moving the robot to leave the charging station.
  • At least one motor selected from the wheel motor and the terminal rotation motor may be driven.
  • the robot body in the charging step, may be moved toward a direction closer to the ground.
  • the suspension motor in the charging step, may be driven so that the distance between the robot body and the wheel becomes closer.
  • the robot body in the leaving step, may be moved in a direction away from the ground.
  • the posture of the robot body may change at least once during the entry step, the charging step, and the departure step.
  • the wheel motor in the entry step and the departure step, the wheel motor may be driven to rotate in one direction.
  • the rotation direction of the suspension motor in the entry step and the rotation direction of the suspension motor in the departure step may be opposite to each other.
  • the seating plate is configured to rotate 180 degrees after the robot is coupled to the charging station, both the robot entering the charging station and the robot leaving the charging station can be moved forward. Therefore, there is an advantage that the robot can easily enter and leave the charging station.
  • the coupling hook of the charging station and the coupling member of the robot are engaged with each other, thereby enabling fixed coupling between the robot and the charging station. Therefore, power supply to the robot can be maintained stably during charging.
  • Figure 1 is a perspective view for explaining a robot according to an embodiment of the present invention.
  • Figure 2 is an exploded perspective view of Figure 1.
  • Figure 3 is a front view of a robot according to an embodiment of the present invention.
  • Figure 4 is a rear view of a robot according to an embodiment of the present invention.
  • Figure 5 is a side view of a robot according to an embodiment of the present invention.
  • Figure 6 is a bottom view of a robot according to an embodiment of the present invention.
  • Figure 7 is a diagram for explaining a state in which the upper function module is removed from the robot according to an embodiment of the present invention.
  • Figure 8 is a diagram for explaining the leg portion of the robot according to an embodiment of the present invention.
  • Figure 9 is a diagram for explaining the connection relationship of leg parts in the robot according to an embodiment of the present invention.
  • Figure 10 is a diagram for explaining a second link in a robot according to an embodiment of the present invention.
  • Figure 11 is a diagram for explaining a structure for hiding wires in a robot according to an embodiment of the present invention.
  • Figures 12 and 13 are diagrams for explaining changes in the position of the wheel according to movement of the leg portion in the robot according to an embodiment of the present invention.
  • Figure 14 is a diagram for explaining the arrangement of wheels in a robot according to an embodiment of the present invention and the arrangement relationship for combination with the lower function module.
  • Figure 15 is a block diagram of a robot according to an embodiment of the present invention.
  • Figure 16 is a diagram showing a state in which the robot body and the lower function module are combined in the robot according to an embodiment of the present invention.
  • Figure 17 is a perspective view of a charging station according to an embodiment of the present invention.
  • Figure 18 is an exploded view of some parts in Figure 17.
  • Figure 19 is a diagram for explaining the structure of the power transmission unit in the charging station according to an embodiment of the present invention.
  • Figure 20 is a perspective view of Figure 19.
  • Figure 21 is an exploded view of the power transmission unit disassembled from the station main body.
  • Figure 22 is a plan view of a charging station according to an embodiment of the present invention.
  • FIG. 23 is a diagram for explaining disengagement between a robot and a charging station in a charging station according to an embodiment of the present invention.
  • Figure 24 is a diagram for explaining the locking coupling between the robot and the charging station in the charging station according to an embodiment of the present invention.
  • Figure 25 is a flowchart showing the flow of a robot charging method according to an embodiment of the present invention.
  • Figures 26 and 27 are diagrams showing operations corresponding to step S100 of Figure 25.
  • Figure 28 is a diagram showing the operation corresponding to step S200 of Figure 25.
  • Figure 29 is a diagram showing the operation corresponding to step S300 of Figure 25.
  • Figure 30 is a diagram showing the operation corresponding to step S400 of Figure 25.
  • Figure 31 is a diagram showing the operation corresponding to step S500 of Figure 25.
  • Figure 32 is a flowchart showing the flow of another embodiment of a robot charging method.
  • Figure 1 shows a perspective view for explaining a robot according to an embodiment of the present invention
  • Figure 2 shows an exploded perspective view of Figure 1
  • Figure 3 shows a front view of the robot according to an embodiment of the present invention
  • Figure 4 shows a rear view of a robot according to an embodiment of the present invention
  • Figure 5 shows a side view of a robot according to an embodiment of the present invention
  • Figure 6 shows a robot according to an embodiment of the present invention.
  • a bottom view is shown
  • FIG. 7 is a diagram illustrating a state in which the upper function module is removed from the robot according to an embodiment of the present invention.
  • the robot 1 according to an embodiment of the present invention is described as follows.
  • the robot 1 according to an embodiment of the present invention is placed on the floor and moves along the floor B. Accordingly, hereinafter, the vertical direction will be determined based on the state in which the robot 1 is placed on the floor.
  • the direction where the mapping camera 531, which will be described later, is placed is set to the front.
  • the description will be made by setting the direction opposite to the front as the rear with respect to the battery 600.
  • the 'lowest part' of each configuration described in the embodiment of the present invention may be the lowest-located part of each configuration when the robot 1 according to the embodiment of the present invention is placed on the floor and used, or the bottom It may be the closest part to .
  • the robot 1 includes a robot body 100, a leg portion 200, and a wheel portion 300. At this time, the leg portion 200 is coupled to both sides of the robot body 100, and the wheel portion 300 is coupled to the leg portion 200.
  • the robot body 100 may have the external shape of the robot 1. Each part that makes up the robot 1 may be combined with the robot body 100.
  • leg portions 200 are coupled to both side frames 130 of the robot body 100, respectively.
  • a bumper 112 may be coupled to the front cover 110 provided on the front of the robot body 100.
  • function modules 700 and 800 may be detachably coupled to the robot body 100 according to an embodiment of the present invention.
  • the function modules 700 and 800 may include an upper function module 700 coupled to the upper part of the robot body 100 and a lower function module 800 coupled to the space between the pair of wheels 310. .(see Figures 1 and 16)
  • the upper function module 700 may be detachably coupled to the upper cover 140 disposed on the upper side of the robot body 100.
  • the lower function module 800 may be detachably coupled to the lower cover 150 disposed on the lower side of the robot body 100.
  • the robot body 100 may have a horizontal width (or diameter) that is larger than the vertical height. This robot body 100 helps the robot 1 achieve a stable structure and can provide an advantageous structure for maintaining balance when the robot 1 moves (runs).
  • the internal space of the robot body 100 can accommodate one or more motors including a suspension motor (MS), one or more sensors, and a battery 600.
  • MS suspension motor
  • sensors sensors
  • battery 600 batteries
  • the robot body 100 includes a front cover 110.
  • the front cover 110 constitutes the front exterior of the robot 1. That is, the front cover 110 may be placed at the front of the robot 1 when the robot 1 moves forward.
  • the front cover 110 of the robot body 100 may be formed in a flat shape.
  • the front cover 110 may have a plate shape with a curved surface.
  • the front cover 110 may be in the form of a plate bent at a predetermined angle.
  • the front cover 110 may be provided with a window 111.
  • the window 111 may be formed of a material that allows light to pass through.
  • the window 111 may be formed of a material that can transmit infrared (IR), visible ray, or ultraviolet (UV) rays.
  • the front cover 110 includes an outer surface exposed to the outside of the robot 1 and an inner surface disposed behind the outer surface.
  • a bumper 112 may be coupled to the outer surface of the front cover 110. That is, the bumper 112 may be placed in front of the robot body 100.
  • the bumpers 112 may be provided at both ends of the outer surface of the front cover 110, and may be arranged in a pair side by side along the vertical direction.
  • the bumper 112 may be provided to be movable relative to the robot body 100.
  • the bumper 112 may be coupled to the robot body 100 to enable reciprocating movement along the front-back direction of the robot body 100.
  • the bumper 112 may be coupled along a portion of the front edge of the front cover 110. Alternatively, the bumper 112 may be coupled along the entire edge of the front cover 110. With this configuration, when the robot 1 collides with another object or person, the bumper 112 absorbs the shock applied to the robot body 100 and stores it in the robot body 100 and the inside of the robot body 100. The received parts can be protected.
  • a mapping camera 531 may be placed behind the inner surface of the front cover 110. Specifically, a mapping camera 531 may be placed immediately behind the window 111. With this configuration, the mapping camera 531 can detect objects or people placed in front of the robot 1.
  • the front cover 110 may be provided with an input unit through which a control command is input from the user, a display unit for visually conveying information about the operating state of the robot 1 to the user, etc.
  • the front cover 110 may be equipped with a touch screen that visually shows the operating state of the robot 1 and allows control commands to be input from the user.
  • the robot body 100 includes a rear cover 120.
  • the rear cover 120 constitutes the rear exterior of the robot 1.
  • the rear cover 120 may be formed in a flat shape.
  • the rear cover 120 may have a plate shape with a curved surface.
  • a manipulation unit 553 for controlling the power of the robot 1 may be placed on the rear cover 120.
  • the operation unit 553 can be operated by the user, and the power of the robot 1 can be turned on or off by operating the operation unit 553.
  • the manipulation unit 553 may be provided on the rear cover 120 to pivot left and right, or may be provided to pivot up and down depending on the embodiment.
  • the robot 1 when the user pushes one side of the manipulation unit 553 and the manipulation unit 553 pivots to one side, the robot 1 may be turned on. Also, when the user pushes the other side of the manipulation unit 553 and the manipulation unit 553 pivots to the other side, the robot 1 may be turned off.
  • a rear bumper 122 may be coupled to the outer surface of the rear cover 120. That is, the rear bumper 122 may be placed at the rear of the robot body 100.
  • the rear bumper 122 is provided on the outer surface of the rear cover 120 and may be arranged along the horizontal direction. With this configuration, when the robot 1 collides with another object or person, the rear bumper 122 absorbs the shock applied to the robot body 100 and protects the robot body 100 and the inside of the robot body 100. It can protect the parts contained in it.
  • the robot body 100 includes a side frame 130.
  • the side frame 130 constitutes the exterior of both sides of the robot 1.
  • the side frames 130 may be arranged on both sides of the robot 1 to face each other.
  • the side frame 130 may be formed in a flat shape. That is, both sides of the robot body 100 may be formed in a flat shape and arranged side by side with each other.
  • at least a portion of the side frame 130 may be formed in a curved shape.
  • the side frame 130 is combined with the front cover 110 and the rear cover 120.
  • the side frame 130 may connect the front cover 110 and the rear cover 120.
  • the robot body 100 may have an internal space surrounded by the front cover 110, the rear cover 120, and the two side frames 130.
  • Leg portions 200 may be disposed outside the side frame 130. Specifically, the first link 210 and the second link 220 may be rotatably coupled to the outside of the side frame 130.
  • a support structure is arranged vertically below the robot body to support the load of the robot.
  • a support structure is provided vertically below the robot body, there is a limitation in that the space below the robot cannot be used.
  • leg portion 200 of the robot 1 is coupled to the side frame 130.
  • a suspension motor may be disposed inside the side frame 130.
  • Link coupling holes 131 and 132 are formed in the side frame 130.
  • the link coupling hole includes a first link coupling hole 131 and a second link coupling hole 132.
  • the first link coupling hole 131 is formed in the shape of a circular hole in the side frame 130. At least a portion of the first link 210 may be rotatably accommodated in the first link coupling hole 131 . For example, one end of the first link 210 may pass through the first link coupling hole 131 and be coupled to the shaft of the suspension motor MS.
  • the second link coupling hole 132 is formed in the shape of a circular hole in the side frame 130. At least a portion of the second link 220 may be rotatably accommodated in the second link coupling hole 132 . For example, the shaft formed on one side of the second link 220 may be rotatably coupled to the second link coupling hole 132.
  • the first link coupling hole 131 may be formed to have a larger diameter than the second link coupling hole 132.
  • the first link coupling hole 131 and the second link coupling hole 132 may be formed at a predetermined interval.
  • the center of the first link coupling hole 131 in the shape of a circular hole and the center of the second link coupling hole 132 in the shape of a circular hole may be arranged at a predetermined interval.
  • the first link coupling hole 131 and the second link coupling hole 132 may be arranged at a predetermined inclination with respect to the ground.
  • the first link coupling hole 131 is disposed on the lower side of the side frame 130
  • the second link coupling hole 132 is located on the side frame 130. It can be placed at the upper rear.
  • the side frame 130 in which the link coupling holes 131 and 132 are formed can serve as a kind of link.
  • a handle hole 133 may be formed in the side frame 130.
  • the handle hole 133 may be formed on the upper front side of the side frame 130.
  • the top cover 140 constitutes the upper exterior of the robot 1.
  • the top cover 140 is combined with the front cover 110, the rear cover 120 and the two side frames 130. Accordingly, the top cover 140 may cover the upper side of the internal space surrounded by the front cover 110, the rear cover 120, and the two side frames 130.
  • the top cover 140 When the robot 1 is placed on the ground, the top cover 140 may be arranged to be inclined at a predetermined angle based on the ground. For example, the front end of the top cover 140 may be disposed closer to the ground than the rear end.
  • the upper function module 700 may be coupled to the top cover 140.
  • the upper function module 700 may be detachably coupled to the upper side of the top cover 140.
  • a hook receiving groove 141 may be formed in the upper cover 140 to be hooked to the upper function module 700.
  • the upper function module 700 can be coupled to the robot body 100 by simply pushing the hook of the upper function module 700 into the hook receiving groove 141.
  • the robot body 100 can supply power to the upper function module 700.
  • the top cover 140 may be provided with a terminal that can supply power to the upper function module 700.
  • the robot body 100 can transmit and receive signals to the upper function module 700.
  • the top cover 140 may be provided with a terminal for transmitting and receiving signals to the upper function module 700.
  • terminals capable of supplying power to the upper function module 700 and terminals capable of transmitting and receiving signals to the upper function module 700 may be arranged together on the top cover 140.
  • the top cover 140 may be provided with a pogo pin 142 including two power pins and four signal pins.
  • At least one guide groove 143 may be formed in the top cover 140.
  • the lower side of the upper function module 700 may be coupled to the guide groove 143. With this configuration, the guide groove 143 can guide the coupling position of the upper function module 700.
  • the lower cover 150 constitutes the lower exterior of the robot 1.
  • the lower cover 150 is combined with the front cover 110, the rear cover 120, and the two side frames 130. Accordingly, the lower cover 150 may cover the lower side of the internal space surrounded by the front cover 110, the rear cover 120, and the two side frames 130.
  • a lower function module 800 may be coupled to the lower cover 150.
  • the lower function module 800 may be detachably coupled to the lower side of the lower cover 150.
  • the lower cover 150 may be provided with a coupling bar 151 to be latch-coupled with the lower function module 800.
  • the coupling bar 151 is formed in a cylindrical shape and may be arranged along the left and right directions of the robot 1. In addition, a pair of protrusions connected to the coupling bar 151 may be formed to protrude from the lower cover 150.
  • the lower cover 150 may be provided with a charging terminal 152.
  • the charging terminal 152 may be disposed on the lower side of the bottom cover 150.
  • the charging terminal 152 may be positioned opposite the power supply terminal 936 provided in the charging station 900.
  • the charging terminal 152 may be electrically connected to the power supply terminal 936 provided in the charging station 900.
  • the robot 1 can receive power from the charging station 900 through the charging terminal 152. Also, the power supplied to the charging terminal 152 may be supplied to the battery 600.
  • a support structure is arranged vertically below the robot body to support the load of the robot.
  • a support structure is provided vertically below the robot body, there is a limitation in that the space below the robot cannot be used.
  • the robot 1 has leg portions 200 disposed on both sides of the robot body 100. Accordingly, a module coupling space 153 in which the lower function module 800 is coupled is formed on the lower side of the lower cover 150.
  • the module coupling space 153 may be formed between the pair of leg portions 200.
  • the module coupling space 153 may mean a space vertically below the coupling bar 151. That is, the module coupling space 153 may be a space having a predetermined width ( ⁇ S) along the left and right directions.
  • the lower function module 800 is coupled to the space between the lower part of the robot body 100 and the pair of leg portions 200, the volume occupied by the robot 1 when the lower function module 800 is mounted It has the effect of minimizing.
  • the robot body 100 may further include an external case.
  • the external case may constitute the overall appearance of the robot body 100.
  • the external case may cover the exterior of the front cover 110, the rear cover 120, the side frame 130, the top cover 140, and the bottom cover 150.
  • the outer case may be formed in an ellipsoid shape extending along the left and right directions.
  • Figure 8 shows a drawing for explaining the leg part in the robot according to an embodiment of the present invention
  • Figure 9 shows a drawing for explaining the connection relationship of the leg part in the robot according to an embodiment of the present invention.
  • 10 is a diagram illustrating a second link in a robot according to an embodiment of the present invention
  • FIG. 11 is a diagram illustrating a structure for hiding wires in a robot according to an embodiment of the present invention. there is.
  • leg portion 200 of the robot 1 With reference to FIGS. 8 to 11, the leg portion 200 of the robot 1 according to an embodiment of the present invention will be described as follows.
  • the leg portion 200 is coupled to the robot body 100 and can support the robot body 100.
  • a pair of leg portions 200 are provided and each is coupled to the side frame 130 of the robot body 100.
  • at least a portion of the leg portion 200 is disposed closer to the ground than the robot body 100. Accordingly, the robot body 100 can travel while standing on the ground by the pair of leg portions 200. That is, gravity applied to the robot body 100 can be supported by the leg portion 200, and the height of the robot body 100 can be maintained.
  • the leg portion 200 is coupled only to both sides of the robot body 100. That is, the leg portion 200 is not coupled to the lower and rear surfaces of the robot body 100.
  • a space is formed between the lower side of the bottom cover 150 and the pair of leg portions 200.
  • a space in which the lower function module 800 in the form of a rectangular parallelepiped can be accommodated may be formed between the lower side of the lower cover 150 and the pair of leg portions 200.
  • the leg portion 200 includes a first link 210, a second link 220, and a third link 230.
  • the first link 210 and the second link 220 are rotatably coupled to the side frame 130 and the third link 230, respectively. That is, the first link 210 and the second link 220 are linked to the side frame 130 and the third link 230, respectively.
  • the first link 210 is link-coupled to the side of the robot body 100.
  • the first link 210 may be link-coupled to the side frame 130.
  • the first link 210 is connected to the suspension motor (MS).
  • the first link 210 may be connected to the shaft of the suspension motor MS directly or through a gear. With this configuration, the first link 210 receives driving force from the suspension motor (MS).
  • the first link 210 includes a first link body 211, a motor coupling portion 212, and a link coupling portion 213.
  • the first link body 211 is formed in the form of a frame that connects and extends between the motor coupling part 212 and the link coupling part 213.
  • a motor coupling portion 212 is provided on one longitudinal side of the first link body 211, and a link coupling portion 213 is provided on the other longitudinal side. At this time, the motor coupling unit 212 may be arranged farther from the ground than the link coupling unit 213.
  • the first link body 211 may be bent at least once.
  • the other side of the first link body 211 with the link coupling portion 213 may be disposed farther from the robot body 100 than the one side with the motor coupling portion 212. Accordingly, the distance between the pair of first link bodies 211 increases from the top to the bottom in the vertical direction. With this configuration, the first link 210 can stably support the robot body 100.
  • a rib 211a may be formed on the first link body 211.
  • ribs may be formed to protrude along the longitudinal direction of the first link body 211.
  • the rib 211a may be formed in an area where the first link body 211 is bent. With this configuration, the ribs 211a have the effect of reinforcing the first link 210 and increasing durability.
  • the motor coupling portion 212 is connected to one end of the first link body 211.
  • the motor coupling portion 212 is rotatably received in the first link coupling hole 131 of the side frame 130.
  • the motor coupling portion 212 may be formed in a disk shape or disk shape.
  • the maximum diameter of the motor coupling portion 212 may be the same as or smaller than the maximum diameter of the first link coupling hole 131. Accordingly, the motor coupling portion 212 may be connected to the suspension motor MS through the first link coupling hole 131.
  • the motor coupling portion 212 is connected to the suspension motor (MS).
  • the motor coupling portion 212 may be fixedly coupled to the shaft of the suspension motor (MS). With this configuration, when the suspension motor MS is driven, the motor coupling portion 212 may be rotated in conjunction with the rotation of the shaft of the suspension motor MS.
  • the link coupling portion 213 is formed at the other end of the first link body 211.
  • the link coupling portion 213 is rotatably coupled to the third link 230. Specifically, the link coupling portion 213 is rotatably coupled to the third link 230 through the first link shaft 214.
  • the link coupling portion 213 may be formed in a disk shape, and the first link shaft 214 may be coupled through the center of the link coupling portion 213. Additionally, the first link shaft 214 may be rotatably coupled to the third link 230 . With this configuration, the first link 210 and the third link 230 can be connected to enable relative rotation.
  • the first link shaft 214 is provided to connect the first link 210 and the third link 230.
  • the first link shaft 214 may be coupled through the link coupling portion 213 of the first link 210 and/or the third link 230.
  • the first link shaft 214 may be rotatably coupled to the link coupling portion 213 and/or the third link 230.
  • the first link shaft 214 can be the axis around which the third link 230 rotates.
  • the gravity compensator 215 compensates for the robot body 100 to come down vertically due to gravity. That is, the gravity compensation unit 215 provides force to support the robot body 100.
  • the gravity compensator 215 may be a torsion spring.
  • the gravity compensation unit 215 may be wound to surround the outer circumferential surface of the first link shaft 214. Then, one end of the gravity compensating unit 215 is inserted into the first link 210 and fixedly coupled, and the other end of the gravity compensating unit 215 is inserted into the third link 230 and fixedly coupled thereto.
  • the gravity compensator 215 applies force in a direction in which the angle between the first link 210 and the third link 230 increases.
  • the angles of both ends of the gravity compensating unit 215 are retracted in advance to apply a restoring force in the direction in which the angle between the first link 210 and the third link 230 increases. there is. Therefore, even when the robot 1 is placed on the ground and gravity is applied to the robot body 100, the angle between the first link 210 and the third link 230 can be maintained within a predetermined angle range.
  • the robot body 100 can be prevented from descending toward the ground even if the suspension motor MS is not driven. Accordingly, the gravity compensation unit 215 prevents energy loss due to driving the suspension motor (MS) and maintains the height of the robot body 100 above a predetermined distance from the ground.
  • the second link 220 is link-coupled to the side of the robot body 100.
  • the second link 220 may be link-coupled to the side frame 130. That is, the second link 220 may be coupled to the side frame 130 to which the first link 210 is coupled.
  • the second link 220 includes a second link body 221, a frame coupling portion 222, and a link coupling portion 223. At this time, the frame coupling unit 222 may be arranged farther from the ground than the link coupling unit 223.
  • the second link body 221 is formed in a frame shape that connects and extends between the frame coupling portion 222 and the link coupling portion 223.
  • a frame coupling portion 222 is provided on one longitudinal side of the second link body 221, and a link coupling portion 223 is provided on the other longitudinal side.
  • the second link body 221 may be bent at least once.
  • the other side of the second link body 221 with the link coupling portion 223 may be disposed farther from the robot body 100 than the one side with the frame coupling portion 222. Accordingly, the distance between the pair of second link bodies 221 increases from the upper to the lower side in the vertical direction. With this configuration, the second link 220 can stably support the robot body 100.
  • the second link body 221 includes an inner surface facing the robot body 100 and an outer surface facing away from the robot main body 100.
  • a rib 221a may be formed on the second link body 221.
  • ribs 221a may be formed to protrude along the longitudinal direction on the outer surface of the second link body 221. At this time, the rib 221a may be formed in the area where the second link body 221 is bent. With this configuration, the ribs 221a have the effect of reinforcing the second link 220 and increasing durability.
  • An electric wire receiving wall 221b may be formed in the second link body 221.
  • a pair of wire receiving walls 221b may be protruding from the inner surface of the second link body 221 along the longitudinal direction.
  • the pair of wire receiving walls 221b may be formed side by side at a predetermined interval.
  • the second link 220 may be provided with a wire support pin 221c.
  • the wire support pin 221c may penetrate a pair of wire receiving walls 221b.
  • the wire support pin 221c may be arranged in a direction crossing the pair of wire receiving walls 221b.
  • the wire receiving wall 221b can block some of the open areas in the space surrounded by the second link body 221 and the wire receiving wall 221b. Accordingly, it is possible to prevent the electric wire from coming out of the space surrounded by the second link body 221 and the electric wire receiving wall 221b.
  • the frame coupling portion 222 is connected to one end of the second link body 221.
  • the frame coupling portion 222 is rotatably coupled to the second link coupling hole 132 of the side frame 130.
  • the frame coupling portion 222 may be provided with a coupling shaft 222a penetratingly coupled to the side frame 130.
  • the coupling shaft 222a may be formed in a cylindrical shape.
  • the outer diameter of the other end of the coupling shaft 222a may be larger than the outer diameter of one end in the axial direction (longitudinal direction) of the coupling shaft 222a coupled to the side frame 130.
  • a hollow 222b may be formed in the coupling shaft 222a.
  • An electric wire can pass through the hollow 222b. With this configuration, it is possible to prevent the wire supplying power from the battery 600 to the wheel motor (MW) from being exposed to the outside.
  • a wire passing hole 222c may be formed in the coupling shaft 222a.
  • the wire passing hole 222c may be formed on the outer peripheral surface of the other axial end of the coupling shaft 222a.
  • the coupling shaft 222a may be coupled to the rotating connection plate 222d.
  • the rotation connection plate 222d may be formed in a disk shape, and the diameter of the rotation connection plate 222d may be smaller than the diameter of the other axial end of the coupling shaft 222a. Accordingly, the rotating connection plate 222d can be accommodated and coupled to the other axial end of the coupling shaft 222a.
  • the rotation connection plate 222d may be formed integrally with the second link body 221.
  • the radially outer end of the rotation connection plate 222d may be connected to the second link body 221. With this configuration, the rotation connecting plate 222d can couple the second link body 221 and the coupling shaft 222a.
  • the link coupling portion 223 is formed at the other end of the second link body 221.
  • the link coupling portion 223 is rotatably coupled to the third link 230.
  • the link coupling portion 223 is rotatably coupled to the third link 230 through the second link shaft 224.
  • the link coupling portion 223 may be formed in a disk shape, and the second link shaft 224 may be coupled through the center of the link coupling portion 223. Additionally, the second link shaft 224 may be rotatably coupled to the third link 230 . With this configuration, the second link 220 and the third link 230 can be connected to enable relative rotation.
  • the second link shaft 224 is provided to connect the second link 220 and the third link 230.
  • the second link shaft 224 may be coupled through the link coupling portion 223 of the second link 220 and/or the third link 230.
  • the second link shaft 224 may be rotatably coupled to the link coupling portion 223 and/or the third link 230.
  • the second link shaft 224 can be the axis around which the third link 230 rotates.
  • the third link 230 is link-coupled with the first link 210 and the second link 220, and is coupled with the wheel portion 300.
  • the third link 230 includes a third link body 231.
  • the third link body 231 is formed in the form of a frame that connects and extends between the fourth link coupling hole 233 and the wheel coupling portion 234.
  • a third link coupling hole 232 and a fourth link coupling hole 233 are formed on one longitudinal side of the third link 230, and a wheel coupling portion 234 is formed on the other longitudinal side.
  • the third link body 231 may be bent at least once.
  • the pair of third link bodies 231 have a distance between the other side where the wheel coupling portion 234 is formed than the distance between one side where the third link coupling hole 232 and the fourth link coupling hole 233 are formed. The distance is short.
  • At least one rib may be formed to protrude along the longitudinal direction of the third link body 231.
  • the rib 231a may be formed in a bent area of the third link body 231. With this configuration, the ribs can reinforce the third link body 231.
  • a third link coupling hole 232 is formed in the third link body 231. Specifically, a third link coupling hole 232 is formed on one side of the third link body 231 in the longitudinal direction.
  • the first link shaft 214 may be rotatably coupled to the third link coupling hole 232.
  • the third link coupling hole 232 may be formed in a circular hole shape. With this configuration, the third link 230 can be rotatably connected to the first link 210 through the first link shaft 214.
  • a hole into which the gravity compensation unit 215 is coupled may be formed in the third link body 231.
  • the other end of the torsion spring may be inserted and coupled to the hole.
  • a fourth link coupling hole 233 is formed in the third link body 231. Specifically, a fourth link coupling hole 233 is formed on one side of the third link body 231 in the longitudinal direction.
  • the second link shaft 224 may be rotatably coupled to the fourth link coupling hole 233.
  • the fourth link coupling hole 233 may be formed in a circular hole shape. With this configuration, the third link 230 can be rotatably connected to the second link 220 through the second link shaft 224.
  • the fourth link coupling hole 233 may be disposed farther from the wheel coupling portion 234 than the third link coupling hole 232.
  • the third link 230 is coupled to the wheel portion 300.
  • the wheel housing 320 is coupled to the inner surface of the third link body 231 (the surface facing the robot body 100), and the wheel is attached to the outer surface of the third link body 231 (the back side of the inner surface). (310) is rotatably coupled.
  • a wheel coupling portion 234 is formed in the third link body 231. Specifically, a wheel coupling portion 234 is formed on the other side of the third link body 231 in the longitudinal direction.
  • the wheel coupling portion 234 may be formed in the shape of a circular hole.
  • a wheel motor (MW) may be accommodated in the wheel coupling portion 234.
  • the wheel coupling portion 234 may be disposed vertically below the robot body 100.
  • the wheel coupling portion 234 may be disposed vertically below the suspension motor MS.
  • the suspension motor (MS) is relatively heavy among the parts accommodated in the robot body (1). Accordingly, the entire weight of the robot body 1 may be concentrated vertically below the suspension motor MS.
  • the wheel 310 coupled to the wheel coupling portion 234 can maintain the balance of the robot body 1 by supporting just below the center of gravity of the robot body 1.
  • the wheel portion 300 is rotatably coupled to the leg portion 200 and can roll on the ground to move the robot body 100 and the leg portion 200.
  • the wheel unit 300 includes a wheel 310 that contacts the ground and rolls over the ground, and a wheel housing 320 in which a wheel motor MW is accommodated.
  • the wheel 310 is provided to have a predetermined radius and a predetermined width along the axial direction. As shown in FIG. 3 , when the robot 1 is viewed from the front, the side frame 130 and the leg portion 200 may be disposed on the vertically upper side of the wheel 310. And, referring to FIG. 2, a suspension motor (MS), a first link coupling hole 131, and a second link coupling hole 132 may be disposed vertically above the wheel 310.
  • MS suspension motor
  • the wheel 310 includes a wheel frame 311 formed in a circular shape.
  • the wheel frame 311 may be formed in a cylindrical shape with one side open toward the shaft of the wheel motor MW. Through this, the weight of the wheel frame 311 can be reduced.
  • the overall rigidity of the wheel frame 311 may be reduced.
  • ribs (not shown) that reinforce rigidity may be formed on the inner and outer surfaces of the wheel frame 311, respectively.
  • a wheel tire 312 is coupled to the outer peripheral surface of the wheel frame 311.
  • the wheel tire 312 may be formed in an annular shape with a diameter that can be fitted on the outer peripheral surface of the wheel frame 311.
  • Grooves of a predetermined pattern may be formed on the outer peripheral surface of the wheel tire 311 to improve the grip of the wheel tire 312.
  • the wheel tire 312 may be made of an elastic rubber material.
  • the wheel housing 320 may have a cylindrical shape with one axial side open to accommodate the wheel motor (MW) therein. At this time, the closed portion of the wheel housing 320 may be coupled to the inner surface of the third link 230. With this configuration, external foreign substances can be prevented from entering the wheel housing 320.
  • the wheel housing 320 may be equipped with a sensor that can measure the distance to the ground.
  • the sensor may be a Time of Flight sensor (ToF sensor).
  • ToF sensor Time of Flight sensor
  • the control unit 500 can determine whether the wheel 310 is in contact with the ground.
  • the wheel 310 is rotatably coupled to the leg portion 200. Specifically, the wheel 310 is rotatably coupled to the outer surface of the third link 230 (the surface facing the outside of the robot 1).
  • the wheel motor (MW) may provide driving force to the wheel 310.
  • the wheel motor (MW) can generate rotational force by receiving power from the battery 600.
  • the wheel motor (MW) may be accommodated in the wheel housing 320. Additionally, the wheel motor MW may penetrate the wheel coupling portion 234 of the third link 230, and the shaft of the wheel motor MW may be coupled to the wheel frame 311 of the wheel 310. . That is, the wheel motor (MW) may be an in-wheel motor.
  • the wheel 310 when the wheel motor MW is driven, the wheel 310 can rotate and roll along the ground, and the robot 1 can move along the ground.
  • Figures 12 and 13 show drawings to explain the change in the position of the wheel according to the movement of the leg portion in the robot according to an embodiment of the present invention
  • Figure 14 shows the arrangement of wheels in the robot according to an embodiment of the present invention.
  • a drawing is shown to explain the arrangement relationship for combination with the lower function module.
  • the robot 1 can support the robot body 100 and maintain the balance of the robot body 100 through a four-part link structure.
  • Leg portions 200 are provided on both sides of the robot body 100, respectively.
  • a first link 210 and a second link 220 are rotatably coupled to the side frames 130 provided on both sides of the robot body 100, and the first link 210 and the second link (220) is linked with the third link (230). That is, the robot 1 supports the robot body 100 through four-bar links consisting of the side frame 130, the first link 210, the second link 220, and the third link 230.
  • the gravity compensation unit 215 generates a restoring force in the direction of lifting the robot body 100. Accordingly, even when the suspension motor MS is not driven, the pair of leg parts 200 can maintain the state in which the robot body 100 is lifted to a predetermined height from the ground.
  • the robot 1 uses a suspension motor when lifting one of the pair of wheels 310 to overcome an obstacle or lowering the height of the robot body 100 for charging, etc. (MS) can be operated to maintain balance.
  • MS suspension motor
  • the first link 210 rotates around the motor coupling portion 212 and the link coupling portion 213 moves upward.
  • the third link 230 moves according to the rotation of the first link 210.
  • the second link 220 is pushed by the third link 230 and rotates.
  • one end of the third link 230 may be moved rearward, and the other end of the third link 230 may be moved upward.
  • the robot 1 can maintain its balance stably.
  • the robot 1 according to the present invention has the effect of being able to overcome obstacles of various heights by using a four-bar link structure.
  • the center C1 of the first link coupling hole 131 and the center C2 of the second link coupling hole 132 are spaced at a predetermined first distance d1. It can be placed with . And, the center C1 of the motor coupling part 212 of the first link 210 and the center C3 of the link coupling part 213 of the first link 210 are spaced at a predetermined second distance d2. It can be placed. And, the center C2 of the frame coupling part 222 of the second link 220 and the center C4 of the link coupling part 223 of the second link 220 are spaced at a predetermined third distance d3. It can be placed.
  • the center C3 of the third link coupling hole 232 of the third link 230 and the center C4 of the fourth link coupling hole 233 of the third link 230 are a predetermined fourth distance d4.
  • ) can be placed at intervals of
  • the center C3 of the third link coupling hole 232 of the third link 230 and the center C5 of the wheel coupling portion 234 of the third link 230 are at a predetermined fifth distance d5. Can be placed at intervals.
  • the first distance d1, the second distance d2, the third distance d3, the fourth distance d4, and the fifth distance d5 may be arranged to have a predetermined length ratio.
  • the first distance d1 may be 0.5 times or more and 0.6 times or less the fifth distance d5.
  • the second distance d2 may be 0.95 times or more and 1.05 times or less the fifth distance d5.
  • the third distance d3 may be 1.1 times or more and 1.2 times or less of the fifth distance d5.
  • the fourth distance d4 may be 0.2 times or more and 0.3 times or less the fifth distance d5.
  • the forward and backward movement distance of the wheel coupling portion 234 can be maintained within a predetermined deviation ⁇ D.
  • the forward and backward movement distance of the center C5 of the wheel coupling portion 234 can be maintained within 2% of the fifth distance d5.
  • the center of gravity of the robot body 100 may be placed vertically above the wheels 310. Therefore, the robot 1 can be prevented from shaking in the forward and backward directions while moving and maintain its balance.
  • the robot 1 even if the wheel 310 is lifted upward while crossing an obstacle, the front and rear positions of the wheel 310 do not change and the balance can be maintained.
  • the robot body 100 is supported by a pair of leg portions 200 and wheel portions 300.
  • the load of the robot body 100 may be transmitted to the wheel 310 through the leg portion 200, and the wheel 310 may support the leg portion 200 and the robot body 100.
  • the pair of leg parts 200 may be arranged symmetrically (line symmetrically) with each other.
  • the link-coupled portions of the pair of leg portions 200 may be arranged side by side.
  • the motor coupling portions 212 of the pair of first links 210 may be arranged side by side with each other.
  • the link coupling portions 213 of the pair of first links 210 may be arranged side by side with each other.
  • the frame coupling portions 222 of the pair of second links 220 may be arranged side by side with each other.
  • the link coupling portions 223 of the pair of second links 220 may be arranged parallel to each other.
  • the wheel coupling portions 234 of the pair of third links 230 may be arranged parallel to each other.
  • a module coupling space 153 having a predetermined width ( ⁇ S) is formed on the lower side of the robot body 100.
  • the module coupling space 153 may be formed parallel to the pair of leg portions 200. Additionally, the module coupling space 153 may be formed parallel to the pair of wheels 310.
  • At least one motor and battery 600 including a suspension motor (MS), are provided inside the robot body 100, and when the robot 1 is placed on the ground, the robot body in which the motor and battery 600 are accommodated ( The entire load of 100) may be applied to the leg portion 200.
  • MS suspension motor
  • the robot 1 since the robot 1 according to an embodiment of the present invention is provided with leg portions 200 on both sides of the robot body 100, the load of the robot body 100 is applied to the pair of side frames 130 and It is concentrated on a pair of leg portions 200.
  • the side frame 130 and the leg portion 200 are both vertically above the wheel 310. can be placed in
  • an imaginary line (a1) extending along the vertical direction of the axial outer end of the wheel 310 and an imaginary line (a1) extending along the vertical direction of the axial inner end of the wheel 310 Both the side frame 130 and the leg portion 200 may be disposed between a2).
  • the thickness of the leg portion 200 and the side frame 130 is smaller than the thickness of the wheel 310 (length in the left and right directions of the robot 1, ⁇ W).
  • the entire load of the robot body 100 applied to the side frame 130 and the leg portion 200 can be stably supported by the wheel 310 disposed lower in the direction of gravity.
  • the balance of the robot body 100 can be stably maintained by concentrating the load of the robot body 100 on the vertical upper side of the pair of wheels 310. There is an effect.
  • leg portion 200 can be pressed vertically downward by the load of the robot body 100, and the load is prevented from being applied in the left and right directions of the robot 1, preventing the robot 1 from shaking in the left and right directions. can be prevented.
  • FIG. 15 is a block diagram of the robot 1 according to an embodiment of the present invention.
  • the robot 1 includes a control unit 510, a motor unit 520, a sensor unit 530, an interface unit 550, a battery 560, a memory 570, and It may include a communication unit 580.
  • the components shown in the block diagram of FIG. 15 are not essential for implementing the robot 1, so the robot 1 described herein may have more or fewer components than the components listed above. You can.
  • control unit 510 can control the overall operation of the robot 1.
  • the control unit 510 can control the robot 1 to perform various functions according to setting information stored in the memory 570, which will be described later.
  • the control unit 510 may be disposed on the robot body 100. More specifically, the control unit 510 may be mounted and provided on a PCB disposed between the left wheel 310 and the right wheel 310.
  • the control unit 510 may include all types of devices that can process data, such as a processor.
  • 'processor' may mean, for example, a data processing device built into hardware that has a physically structured circuit to perform a function expressed by code or instructions included in a program.
  • a microphone 551 may include a microprocessor, a central processing unit (CPU), a processor core, a multiprocessor, and an ASIC ( It may encompass processing devices such as application-specific integrated circuits (FPGAs) and field programmable gate arrays (FPGAs), but the scope of the present invention is not limited thereto.
  • FPGAs application-specific integrated circuits
  • FPGAs field programmable gate arrays
  • the control unit 510 may receive information about the external environment of the robot 1 from at least one component of the sensor unit 530, which will be described later.
  • the information about the external environment may be, for example, information such as the temperature, humidity, and amount of dust in the room where the robot 1 runs. Or, for example, it could be cliff information. Or, for example, it may be indoor map information.
  • information about the external environment is not limited to the above examples.
  • the control unit 510 may receive information about the current state of the robot 1 from at least one component of the sensor unit 530, which will be described later.
  • the current state may be, for example, tilt information of the robot body 100.
  • it may be information about the separation state between the wheel 310 and the ground.
  • it may be location information of a wheel motor (MW).
  • MW wheel motor
  • MS suspension motor
  • information about the current state of the robot 1 is not limited to the above-described example.
  • the control unit 510 may transmit a drive control command to at least one of the components of the motor unit 520, which will be described later.
  • the rotation of the wheel motor (MW) can be controlled to drive the robot 1.
  • the rotation of the wheel motor (MW) can be controlled to maintain the horizontal posture of the robot 1.
  • the rotation of the suspension motor (MS) can be controlled to maintain the horizontal posture of the robot 1.
  • the rotation of the upper plate motor 525 can be controlled to adjust the angle of the upper function module 700 of the robot 1.
  • the control unit 510 may receive a user's command through at least one of the components of the interface unit 550, which will be described later.
  • the command may be a command to turn on/off the robot 1.
  • the command may be a command for manually controlling various functions of the robot 1.
  • the control unit 510 may output information related to the robot 1 through at least one of the components of the interface unit 550, which will be described later.
  • the output information may be visual information.
  • the output information may be auditory information.
  • the motor unit 520 includes at least one motor and can provide driving force to components connected to each motor.
  • the motor unit 520 may include a wheel motor (MW) that provides driving force to the left and right wheels 310. More specifically, the motor unit 520 may include a left wheel motor (MW_L) that transmits driving force to the left wheel 310 and a right wheel motor (MW_R) that transmits driving force to the right wheel 310.
  • MW wheel motor
  • MW_L left wheel motor
  • MW_R right wheel motor
  • Wheel motors MW may be disposed in each wheel unit 300. More specifically, the wheel motor (MW) may be accommodated in the wheel housing 320. The wheel motor (MW) may be accommodated in the wheel coupling portion 234.
  • the wheel motor (MW) is connected to the wheel 310. More specifically, the final output end of the shaft or gear of the left wheel motor (MW_L) is connected to the left wheel 310. The final output end of the shaft or gear of the right wheel motor (MW_R) is connected to the right wheel (310).
  • Each of the left and right wheel motors (MW) is driven and rotates according to the control command of the control unit 510, and the robot 1 runs along the ground due to the rotation of the wheel 310 according to the rotation of the wheel motor (MW). .
  • the motor unit 520 may include a suspension motor (MS) that provides driving force to the left and right leg units 200. More specifically, the motor unit 520 may include a left suspension motor (MS_L) that transmits driving force to the left leg portion 200 and a right suspension motor (MS_R) that transmits driving force to the right leg portion 200. .
  • MS suspension motor
  • MS_L left suspension motor
  • MS_R right suspension motor
  • the suspension motor (MS) may be disposed on the robot body 100. More specifically, the suspension motors MS may be disposed inside each of the side frames 130.
  • the suspension motor (MS) is connected to the first link (210). More specifically, the final output end of the shaft or gear of the left suspension motor (MS_L) is connected to the left first link 210. The final output end of the shaft or gear of the right suspension motor (MS_R) is connected to the right first link 210.
  • Each of the left and right suspension motors (MS) is driven and rotates according to the control command of the control unit 510, and the first link 210 rotates according to the rotation of the suspension motor (MS) and the first link 210 connected to the first link 210 As the third link 230 rotates, the wheel 310 connected to the third link 230 rises or falls.
  • the robot 1 can lift or lower the wheel 310 and maintain a horizontal posture when climbing an obstacle or driving on a curved surface. Detailed control methods for this will be explained in detail later.
  • the motor unit 520 may include an upper plate motor 525 that provides driving force to the upper function module 700.
  • the top motor 525 may be a servo motor.
  • Servo motors are well-known motors used where rotation angle control is required, and have a limited operating range but have the advantage of enabling accurate position control.
  • the upper function module 700 may be detachably coupled to the top cover 140 of the robot body 100.
  • the upper function module 700 may be provided in various forms depending on its function.
  • the upper functional module 700 may be in the form of a flat plate so that an object such as a mobile phone can be placed on it.
  • the upper functional module 700 may be provided with a receiving groove so that cans, bottles, cups, etc. containing fluid can be placed and transported.
  • the upper function module 700 may be an interaction upper function module 700 that is capable of visually and audibly displaying the response of the robot 1 for emotional interaction with the user.
  • the interaction upper function module 700 may include a display.
  • the display may display facial expressions or eye shapes so that the user can feel that they are interacting with the robot 1.
  • the display of the upper interaction function module 700 may rotate at a preset angle.
  • the top motor 525 may provide driving force to the display of the interaction top function module 700.
  • the top motor 525 may be disposed on the top function module 700. More specifically, the final output end of the shaft or gear of the top motor 525 is connected to the display.
  • the top motor 525 is driven and rotates according to a control command from the control unit 510, and the display can rotate according to the rotation of the top motor 525.
  • the sensor unit 530 includes at least one sensor, and each sensor can measure or sense information about the external environment of the robot 1 and/or information about the current state of the robot 1.
  • the sensor unit 530 may include a first camera 531.
  • the first camera 531 may be the mapping camera described above.
  • the first camera 531 is provided to map the room where the robot 10 runs.
  • the first camera 531 may be placed in front of the robot body 100. More specifically, the first camera 531 may be placed behind the inner surface of the front cover 110. The first camera 531 may be placed behind the window 111.
  • the first camera 531 can photograph the interior while driving to perform SLAM (Simultaneous Localization and Mapping).
  • the control unit 510 may implement SLAM based on information about the surrounding environment captured by the first camera 531 and information about the current location of the robot 1.
  • the method in which the robot 1 according to an embodiment of the present invention implements SLAM may be implemented only with the first camera 531, but is not limited to this.
  • the robot 1 may implement SLAM by further utilizing additional sensors.
  • the additional sensor may be, for example, a Laser Distance Sensor (LDS).
  • LDS Laser Distance Sensor
  • the sensor unit 530 may include a second camera 532.
  • the second camera 532 is provided to recognize the user's location and/or face.
  • the second camera 532 may be placed on the upper function module 700. More specifically, the second camera 532 may be disposed adjacent to the display of the upper function module 700. The second camera 532 may be placed on top of the display. The second camera 532 may be placed between the left and right speakers 552.
  • the second camera 532 can recognize the user's location by photographing the front of the display.
  • the second camera 532 may be equipped with a depth module and an RGB module, respectively.
  • the Depth module can obtain depth information of the image.
  • depth information may be obtained by measuring the delay or phase shift of a modulated optical signal for all pixels of a captured image to obtain travel time information.
  • the RGB module can acquire color images (image images). Edge characteristics, color distribution, frequency characteristics or wavelet transform, etc. can be extracted from the color image.
  • distance information on the object to be recognized is obtained through depth information in the front image captured by the second camera 532, and boundary characteristics extracted from the color image are also calculated to determine whether a user exists in front. Or the location can be recognized.
  • the sensor unit 530 may include an IR sensor 533 for detecting infrared rays.
  • the IR sensor 533 may be an IR camera that detects infrared light.
  • the IR sensor 533 may be placed on the robot body 100. More specifically, the IR sensor 533 may be placed behind the inner surface of the front cover 110. The IR sensor 533 may be placed behind the window 111. The IR sensor 533 may be arranged left and right or up and down with the first camera 532.
  • the IR sensor 533 can detect infrared light emitted by an IR LED provided in a specific module and access the module.
  • the module may be a charging station 900 for charging the robot 1.
  • the module may be a lower function module 800 that is detachably provided on the bottom cover 150 of the robot 1.
  • the controller 510 may control the IR sensor 533 to start detecting the IR LED when the charging state of the robot 1 is below a preset level.
  • the control unit 510 may control the IR sensor 533 to start detecting the IR LED when a command to find a specific module is received from the user.
  • the sensor unit 530 may include a wheel motor sensor 534.
  • the wheel motor sensor 534 can measure the position of the wheel motor (MW).
  • the wheel motor sensor 534 may be an encoder.
  • the encoder can detect the position of the motor and also detect the rotational speed of the motor.
  • the wheel motor sensor 534 may be disposed on the left and right wheel motors (MW), respectively. More specifically, the wheel motor sensor 534 may be connected to the final output end of the shaft or gear of the wheel motor MW and may be accommodated inside the wheel housing 320 together with the wheel motor MW.
  • the sensor unit 530 may include a top motor sensor 535.
  • the top motor sensor 535 can measure the angle at which the display of the interaction top function module 700 is rotated.
  • the top motor sensor 535 may be a potentiometer that measures the rotation angle.
  • the top motor sensor 535 may be placed on the interaction top function module 700. More specifically, the top motor sensor 535 may be connected to the final output end of the shaft or gear of the top motor 525 and placed at the rear of the display together with the top motor 525.
  • the sensor unit 530 may include a tilt detection sensor 536.
  • the tilt detection sensor 536 can measure the tilt angle of the robot body 100.
  • the tilt detection sensor 536 may be, for example, a three-axis acceleration sensor.
  • An acceleration sensor is a sensor that detects the gravitational acceleration of an object in a stationary state. Since gravitational acceleration varies depending on the angle at which an object is tilted, the tilt angle is obtained by measuring the gravitational acceleration. However, there is a disadvantage that the correct value cannot be obtained in a moving acceleration state rather than a stationary state.
  • the tilt detection sensor 536 may be, for example, a 3-axis gyro sensor.
  • a gyro sensor is a sensor that measures angular velocity. Integrating the angular velocity over time gives the tilt angle. However, continuous errors occur in the angular velocity measured by the gyro sensor due to noise and other reasons, and due to these errors, errors in the integral value accumulate and occur over time.
  • the tilt of the robot 1 can be accurately measured by the acceleration sensor, but an error occurs by the gyro sensor.
  • the robot 1 can measure an accurate tilt value using a gyro sensor, but cannot obtain the correct value using an acceleration sensor.
  • the tilt detection sensor 536 may be an Inertial Measurement Unit (IMU) sensor.
  • IMU Inertial Measurement Unit
  • the IMU sensor is a sensor that incorporates a 3-axis acceleration sensor, a 3-axis gyro sensor, and a geomagnetic sensor, and is also referred to as an inertial measurement sensor.
  • Using an IMU sensor can compensate for the shortcomings of the acceleration sensor and gyro sensor mentioned above.
  • the IMU sensor may be placed on the robot body 100. More specifically, the IMU sensor may be placed adjacent to the control unit 510.
  • the IMU sensor may be mounted and provided on a PCB inside the robot body 100. In order to improve the measurement accuracy of tilt angle and direction, the IMU sensor is preferably placed close to the central area of the robot body 100.
  • the IMU sensor can measure at least one of the three-axis acceleration, three-axis angular velocity, and three-axis geomagnetic data of the robot body 100 and transmit it to the control unit 510.
  • the control unit 510 may calculate the tilt direction and tilt angle of the robot body 100 using at least one of acceleration, angular velocity, and geomagnetic data received from the IMU sensor. Based on this, the controller 510 can perform control to maintain the horizontal posture of the robot body 100, which will be described later.
  • the sensor unit 530 may include a fall prevention sensor 537 for detecting a cliff.
  • the fall prevention sensor 537 may be configured to detect the distance to the ground in front of which the robot 1 travels.
  • the fall prevention sensor 537 can be configured in various ways within a range that can detect the relative distance between the point where the fall prevention sensor 537 is formed and the ground.
  • the fall prevention sensor 537 may include a light emitting unit that emits light and a light receiving unit that receives reflected light.
  • the fall prevention sensor 537 may be made of an infrared sensor.
  • the fall prevention sensor 537 may be referred to as a cliff sensor.
  • the fall prevention sensor 537 may be placed on the robot body 100. More specifically, the fall prevention sensor 537 may be placed inside the front cover 110 of the robot body 100. Preferably, it may be placed inside the downward slope provided on the front cover 110. Through this, the fall prevention sensor 537 can irradiate light toward the front floor surface of the robot 1. That is, the fall prevention sensor 537 disposed inside the front slope can detect in advance whether a cliff exists in front of the moving direction of the robot 1.
  • the light emitting unit of the fall prevention sensor 537 may radiate light diagonally toward the front floor.
  • the light receiving unit of the fall prevention sensor 537 may receive light reflected and incident from the floor surface.
  • the distance between the ground in front and the fall prevention sensor 537 can be measured based on the difference between the irradiation point and the reception point of light.
  • the ground in front may suddenly become lower. With this principle, cliffs can be detected.
  • control unit 510 may control the wheel motor MW so that the robot 1 moves while avoiding the detected cliff. At this time, control of the wheel motor MW may be stop control. Alternatively, control of the wheel motor MW may be control of switching the rotation direction.
  • the fall prevention sensor 537 may be additionally disposed inside the rear cover 120 of the robot body 100. Preferably, it may be placed inside the downward slope provided on the rear cover 120. Through this, the fall prevention sensor 537 can radiate light toward the rear floor of the robot 1. That is, the fall prevention sensor 537 disposed inside the rear slope can detect in advance whether a cliff exists behind the robot 1 when it moves backwards.
  • the sensor unit 530 may include a contact detection sensor 538.
  • the contact detection sensor 538 can detect whether the wheel 310 is in contact with the ground.
  • the contact detection sensor 538 may include a TOF sensor 538a that measures the separation distance between the wheel 310 of the robot 1 and the ground.
  • the TOF sensor 538a may be a 3D camera using Time of Flight (TOF) technology.
  • TOF technology is a technology that measures the distance to an object based on the round-trip flight time in which light irradiated toward the object is reflected and returned.
  • the TOF sensor 538a may be disposed on the wheel portion 300.
  • the contact detection sensor 538 may be disposed on the left and right wheel housings 320, respectively. It can be determined whether the wheel 310 is in contact with the ground through the distance to the ground measured by the TOF sensor 538a. If the distance measured by the TOF sensor 538a is less than a preset distance (or less than the lower limit of the preset distance range), the wheel 310 is in contact with the ground. If the distance measured by the TOF sensor 538a is more than a preset distance (or more than the upper limit of the preset distance range), the wheel 310 is spaced from the ground.
  • the contact detection sensor 538 may include a load cell 538b that measures the magnitude of force applied to some components of the robot 1.
  • the resistance value of the strain gauge provided on the surface changes. At this time, the magnitude of the force applied to the load cell 538b can be measured through the change in the resistance value.
  • the load cell 538b may be placed on the leg portion 200.
  • the load cell 538b may be disposed on the left and right third link bodies 231, respectively. While the wheel 310 is in contact with the floor, the third link 230 is deformed by a normal force applied from the ground. The measured value of the load cell 538b appears as a value different from the initial value depending on the deformation of the third link 230. Through this, it can be determined whether the wheel 310 is in contact with the ground.
  • the sensor unit 530 may include an environmental sensor 539.
  • the environmental sensor 539 may be configured to measure various environmental conditions outside the robot 1, that is, inside the house where the robot 1 drives.
  • the environmental sensor 539 may include at least one of a temperature sensor 539a, a humidity sensor 539b, and a dust sensor 539c.
  • the environmental sensor 539 may be placed on the robot body 100. More specifically, the environmental sensor 539 may be placed at the rear of the robot body 100. As a possible embodiment, information measured by the environmental sensor 539 may be visually displayed on the display unit 554.
  • the interface unit 550 includes at least one component for interaction between the user and the robot 1, and each component may be provided to input a command from the user and/or output information to the user.
  • the interface unit 550 may include a microphone 551.
  • the microphone 551 is a component that recognizes the user's voice and may be provided in plural numbers.
  • the microphone 551 may be placed in the upper functional module 700. More specifically, the microphone 551 may be placed in the upper interaction function module 700.
  • the microphone 551 may be placed adjacent to the display of the upper interaction function module 700. Preferably, a total of four microphones 551 can be placed, with two microphones placed at the top and bottom of the display.
  • the voice signal received by the microphone 551 can be used to track the user's location.
  • a known sound source tracking algorithm may be applied.
  • the sound source tracking algorithm may be a three-point measurement method (triangulation method) using the time difference in which a plurality of microphones 551 receive voice signals.
  • the principle is that the position of the voice source is calculated using the position of each microphone 551 and the speed of the sound wave.
  • the robot 1 can be implemented to find the user's location even when the user calls the robot 1 from a distance.
  • the interface unit 550 may include a speaker 552.
  • the speaker 552 may be placed in the upper functional module 700.
  • the speaker 552 may be placed adjacent to the display of the interaction upper function module 700.
  • the speaker 552 is placed at the top of the display and may be provided on the left and right sides, respectively.
  • the speaker 552 can transmit information about the robot 1 as sound.
  • the source of the sound transmitted by the speaker 552 may be sound data previously stored in the robot 1.
  • the pre-stored sound data may be voice data of the robot 1.
  • the pre-stored sound data may be a notification sound that guides the status of the robot 1.
  • the interface unit 550 may include a manipulation unit 553.
  • the manipulation unit 553 can receive a command from the user to control the power of the robot 1 to be turned on/off.
  • the operation of turning on the power may mean supplying power to the control unit 510.
  • the power off operation may mean blocking the power supply to the control unit 510.
  • Power supply is provided from the battery 560.
  • Powering off the robot 1 through the manipulation unit 553 means complete power cutoff, and may have a different meaning from the power saving mode that temporarily stops power supply to each function module. Control of the power saving mode can be performed by the control unit 510 when the power is turned on.
  • the manipulation unit 553 is placed at the rear of the robot body 100.
  • the user's command to the manipulation unit 553 may be an operation to pivot the manipulation unit 553 in the up and down or left and right directions.
  • the robot 1 can be turned on and operated.
  • the manipulation unit 553 is pivoted by the user to the other side opposite to the one side, the power of the robot 1 may be turned off.
  • the shape of the operating unit 553 is not limited.
  • the manipulation unit 553 may be a button that receives an on/off command through a user's push operation.
  • the manipulation unit 553 may be a sliding button that receives an on/off command through a user's sliding motion.
  • the manipulation unit 553 may be a touch screen that receives an on/off command through a user's touch operation.
  • the interface unit 550 may include a display unit 554 and an input unit 555.
  • the display unit 554 may include a display disposed in one or more modules.
  • the display unit 554 may include a first display disposed on the front cover 110 of the robot body 100.
  • the display unit 554 may include a second display disposed on the upper function module 700.
  • the first and second displays include one of a light emitting diode (LED), a liquid crystal display (LCD), a plasma display panel, and an organic light emitting diode (OLED). It can be formed as one element.
  • LED light emitting diode
  • LCD liquid crystal display
  • OLED organic light emitting diode
  • Information such as operating time information of the robot 1 and power information of the battery 560 may be displayed on the first display or the second display.
  • the facial expression of the robot 1 may be displayed on the second display.
  • the eyes of the robot 1 may be displayed on the second display.
  • the current state of the robot 1 may be personified and expressed as emotions through the shape of the face or the shape of the eyes displayed on the second display. For example, when the user returns home after going out, a smiling facial expression or smiling eye shape may be displayed on the second display. This has the effect of giving the user a feeling of communion with the robot 1.
  • the input unit 555 may be configured to receive a control command for controlling the robot 1 from the user.
  • the control command may be a command to change various settings of the robot 1.
  • the settings may be voice volume, display brightness, power saving mode settings, etc.
  • the input unit 555 may be placed on the front cover 110 of the robot body 100.
  • the input unit 555 may be placed adjacent to or on the first display.
  • the input unit 555 generates key input data that the user inputs to control the operation of the robot 1.
  • the input unit 555 may be composed of a key pad, dome switch, touch pad (static pressure/electrostatic), etc.
  • touch pad static pressure/electrostatic
  • the touch pad forms a mutual layer structure with the first display, it can be called a touch screen.
  • the battery 560 is configured to supply power to other components that make up the robot 1.
  • the battery 560 may be placed in the robot body 100. More specifically, the battery 560 may be placed on the rear side of the robot body 100. The battery 560 may be placed rearward of the suspension motor (MS).
  • MS suspension motor
  • the battery 560 can be charged by an external power source, and for this purpose, a charging terminal 152 for charging the battery 560 may be provided on one side of the robot body 100 or the battery 560 itself. there is. As in the embodiment of the present invention, the charging terminal 152 may be disposed on the lower cover 150 of the robot body 100. Accordingly, the robot 1 can be easily coupled to the charging station 900 by approaching the charging station 900 and seating the charging terminal 152 on the power supply terminal 936 of the charging station 900 from the top. there is.
  • the memory 570 is a configuration in which various data for driving and operating the robot 1 are stored.
  • the memory 570 may store an application program for autonomous driving of the robot 1 and various related data.
  • the memory 570 may also store each data sensed by the sensor unit 530, as well as setting information for various settings selected or input by the user.
  • the memory 570 may include magnetic storage media or flash storage media, but the scope of the present invention is not limited thereto.
  • This memory 570 may include internal memory and/or external memory, volatile memory such as DRAM, SRAM, or SDRAM, one time programmable ROM (OTPROM), PROM, EPROM, EEPROM, mask ROM, flash ROM, Non-volatile memory, such as NAND flash memory, or NOR flash memory, SSD. It may include a flash drive such as a compact flash (CF) card, SD card, Micro-SD card, Mini-SD card, Xd card, or memory stick, or a storage device such as an HDD.
  • CF compact flash
  • the memory 570 may be included in the control unit 510 or may be provided as a separate component.
  • the communication unit 580 may be provided to transmit signals between each internal component of the robot 1.
  • the communication unit 580 may support CAN (Controller Area Network) communication.
  • the signal may be a control command transmitted from the control unit 510 to another component.
  • the communication unit 580 may support wireless communication with other devices existing outside the robot 1.
  • a short-range communication module or a long-distance communication module may be provided as a wireless communication module to support wireless communication.
  • Short-distance communication may be, for example, Bluetooth communication, NFC (Near Field Communication) communication, etc.
  • Long-distance communications include, for example, Wireless LAN (WLAN), DLNA (Digital Living Network Alliance), Wibro (Wireless Broadband: Wibro), Wimax (World Interoperability for Microwave Access: Wimax), and GSM (Global System for Mobile communication).
  • WLAN Wireless LAN
  • DLNA Digital Living Network Alliance
  • Wibro Wireless Broadband: Wibro
  • Wimax Worldwide Interoperability for Microwave Access: Wimax
  • GSM Global System for Mobile communication
  • CDMA Code Division Multi Access
  • CDMA2000 Code Division Multi Access 2000
  • EV-DO Enhanced Voice-Data Optimized or Enhanced Voice-Data Only
  • WCDMA Wideband CDMA
  • HSDPA High Speed Downlink Packet Access
  • HSUPA High Speed Uplink Packet Access
  • Figure 17 is a perspective view of a charging station according to an embodiment of the present invention
  • Figure 18 is an exploded view of some parts in Figure 17.
  • the charging station 900 is provided to supply power to the robot 1 to charge it, and may include a station main body 910, a rotating unit 920, and a charging unit 930. .
  • the direction of the charging station 900 Before explaining each configuration, let us first define the direction of the charging station 900.
  • the direction in which the inclined portion 911, which will be described later, is placed, or the entrance through which the robot 1 enters the charging station 900 to climb is The direction of placement can be defined as forward. Additionally, the direction in which the second receiving portion 915, which will be described later, is disposed may be defined as rear.
  • the station main body 910 has a space inside and is placed on the ground so that the robot 1 can approach and climb.
  • the station main body 910 may include an inclined portion 911 disposed at an entrance where the robot 1 climbs.
  • the inclined portion 911 may have an upward slope toward the front of the direction in which the robot 1 enters. More specifically, the inclined portion 911 may be connected to the front end of the entrance side so that there is no height difference with the ground, but may have an upward slope toward the front of the direction in which the robot 1 enters. At this time, the front of the direction in which the robot 1 enters means the rear of the charging station 900. Accordingly, the robot 1 can easily climb from the ground to the charging station 900.
  • a wheel guide portion 911a may be provided in the inclined portion 911.
  • the wheel guide unit 911a may be formed in the form of a groove to guide the movement of the robot 1 with respect to the wheel 310. More specifically, the wheel guide unit 911a is formed so that the entrance at which the robot 1 climbs has a groove width larger than the width of the wheel 310, and as it moves toward the front of the climbing path of the robot 1, The width of the groove may be narrowed compared to the entrance. As a result, the wheel 310 of the robot 1 can easily enter the charging station 900, but the left and right movement is restricted by the gradually narrowing groove, so the wheel 310 can be guided to the correct position.
  • the station main body 910 may include a first receiving portion 913.
  • the first accommodating part 913 is connected to the inclined part 911 and can accommodate some components of the power transmission unit 923, which will be described later, in a space formed therein.
  • a seating plate 921 and a charging unit 930, which will be described later, may be disposed on the top of the first accommodation unit 913.
  • the station main body 910 may include a second receiving portion 915.
  • the second accommodating part 915 is connected to the first accommodating part 913 and can accommodate the control unit 940 of the charging station 900 in a space formed therein. Although not shown, a plug connected to an outlet in the home may be pulled out from the rear of the second accommodating portion 915. Since outlets are generally installed on walls in homes, the second accommodating portion 915 may be arranged so that its rear face faces the wall.
  • the rotating unit 920 may be disposed on the station main body 910 and may be coupled to the station main body 910 to enable relative rotation.
  • the rotating unit 920 may include a seating plate 921 on which the wheel 310 of the robot 1 is seated.
  • the seating plate 921 may be disposed on the upper part of the first accommodating part 913 to form a portion of the exterior of the first accommodating part 913.
  • the upper surface of the seating plate 921 may be connected to the upper surface of the first receiving portion 913 without a step.
  • the seating plate 921 may be formed in the shape of a circular plate.
  • a wheel guide portion 921a may be formed in the form of a groove on the seating plate 921 to guide the movement of the robot 1 with respect to the wheel 310.
  • the wheel guide portion 921a of the seating plate 921 may be connected to the wheel guide portion 911a of the inclined portion 911 without a step. Accordingly, the robot 1 can easily move through the inclined portion 911 to the seating plate 921.
  • the seating plate 921 may be rotated by rotation of the motor 9231.
  • the seating plate 921 may rotate clockwise or counterclockwise based on the rotation axis A1 disposed in the vertical direction at the center of the seating plate 921.
  • the seating plate 921 can rotate 180 degrees together with the charging unit 930. Accordingly, the robot 1 can easily climb with forward movement even when climbing the charging station 900 for charging, and can easily escape with forward movement even when leaving the charging station 900 after charging is completed. In other words, there is an advantage that the robot 1 can both easily enter and leave the charging station 900.
  • the seating plate 921 may include wheel insertion grooves 921b disposed on the left and right, respectively.
  • the wheel insertion groove 921b may be disposed at the stopping position of the left and right wheels 310 of the robot 1 so that the robot 1 stops at a fixed position.
  • the stopping position of the wheel 310 means the position at which the robot 1 stops in order to couple to the charging unit 930.
  • the wheel insertion groove 921b may be disposed approximately at the center of the wheel guide portion 921a.
  • the depth of the wheel insertion groove 921b is deeper than that of the wheel guide portion 921a, and is formed in a shape corresponding to the shape of the wheel 310 of the robot 1, that is, in an arch shape.
  • the robot 1 can move along the wheel guide portion 921a and stop at the same time the wheel 310 is inserted into the wheel insertion groove 921b, and the robot 1 can stop at the same time as the wheel 310 is inserted into the arch-shaped wheel insertion groove 921b. (310) can be stably seated.
  • the seating plate 921 may include a robot detection button 921c.
  • the robot detection button 921c may be placed in the left and right wheel insertion grooves 921b, respectively.
  • the robot detection button 921c may be pressed by the weight of the robot 1.
  • an electrical signal corresponding to the on state of the robot detection button 921c may be transmitted to the control unit 940 of the charging station 900. there is. Accordingly, it may be determined that the robot has climbed to the charging station 900 for charging.
  • FIG. 19 is a diagram for explaining the structure of the power transmission unit in the charging station according to an embodiment of the present invention
  • FIG. 20 is a perspective view of FIG. 19
  • FIG. 21 is an exploded view of the power transmission unit disassembled from the station main body.
  • the rotating unit 920 may further include a power transmission unit 923 that transmits power to rotate the seating plate 921.
  • the power transmission unit 923 is disposed below the seating plate 921 and may be accommodated in the internal space of the station main body 910. More specifically, the power transmission unit 923 is connected to the inner space of the first accommodating part 913 and the inner space of the second accommodating part 915 together with the motor 9231 that generates the rotational power of the seating plate 921. It can be accepted. At least some components of the power transmission unit 923 may be covered by the seating plate 921 so as not to be exposed to the outside.
  • the motor 9231 may be referred to as a terminal rotation motor 9231 to distinguish it from other motors provided in the robot 1.
  • the power transmission unit 923 may be composed of a plurality of power transmission members to transmit power generated by rotation of the motor 9231 to the seating plate 921.
  • the power transmission unit 923 may be composed of a belt and pulley as in the embodiment shown in this specification. However, it is not limited to this and may be composed of a combination of gear parts that are directly engaged with each other.
  • the power transmission unit 923 may include a first transmission unit 9232, a belt 9233, and a second transmission unit 9234.
  • the first transmission unit 9232 may rotate by receiving the rotational power of the motor 9231 (see FIG. 20).
  • the first transmission unit 9232 may be a belt pulley disposed on the motor 9231 side.
  • the first transmission unit 9232 may be coaxially connected to the rotation axis of the motor 9231 depending on the arrangement of the motor 9231, and may be connected to the motor 9231 and the motor 9231 through another gear part provided to change the direction of the rotation axis of the motor 9231. It may also be indirectly connected.
  • the second transmission unit 9234 may rotate the seating plate 921 by receiving the rotational force of the first transmission unit 9232.
  • the second transmission unit 9234 may be a belt pulley disposed on the seat plate 921 side.
  • the second transmission unit 9234 is coaxially connected to the seating plate 921 and can rotate the seating plate 921. That is, the second transmission unit 9234 can rotate around the rotation axis A1 of the seating plate 921.
  • the belt 9233 may be connected to the first transmission unit 9232 and the second transmission unit 9234.
  • the belt 9233 is a medium that transmits power from the first transmission unit 9232 to the second transmission unit 9234, and may be a timing belt, for example. However, it is not limited to this and the belt 9233 may be a V belt or a flat belt.
  • the shapes of the first transmission part 9232 and the second transmission part 9234 can be modified correspondingly.
  • the belt 9233 is a timing belt 9233
  • the first transmission part 9232 and the second transmission part 9234 can be modified accordingly.
  • Gear teeth are provided on the outer peripheral surfaces of the transmission unit 9232 and the second transmission unit 9234.
  • the power transmission unit 923 may further include a tensioner 9235.
  • the tensioner 9235 may be disposed adjacent to the first transmission unit 9232 corresponding to the driving pulley.
  • the tensioner 9235 may be arranged to apply tension on the outside of the belt 9233. Through this configuration, the tensioner 9235 can absorb changes in the tension of the belt 9233, and the tension of the belt 9233 can always be adjusted to be constant.
  • the rotation unit 920 may further include a protrusion 925 connected to the outer peripheral surface of the second transmission unit 9234.
  • the protrusion 925 may be formed to protrude outward in the circumferential direction of the second transmission unit 9234.
  • the protrusion 925 may be connected through the lower end of the outer peripheral surface of the second transmission unit 9234 so as not to interfere with the connection between the belt 9233 and the second transmission unit 9234.
  • the protrusion 925 may be in the form of a pin extending in the vertical direction.
  • the rotating part 920 may further include a micro switch 927.
  • the micro switch 927 may be disposed in the inner space of the first accommodating part 913.
  • the micro switch 927 may be disposed adjacent to the second transmission unit 9234, but may be disposed outside the rotation radius of the second transmission unit 9234.
  • the micro switch 927 is a known electric switch, also called a limit switch.
  • the micro switch 927 is turned on when the operation lever is pressed by a mechanical operation of another configuration.
  • the micro switches 927 may be disposed at positions facing each other with the second transmission unit 9234 interposed therebetween. That is, the rotating unit 920 may be provided with two micro switches 927.
  • the operation lever of the micro switch 927 may be disposed at a position that contacts the protrusion 925 by rotation of the second transmission unit 9234. That is, as the second transmission unit 9234 rotates, the protrusion 925 may contact the operation lever of the micro switch 927 and the operation lever may be pressed by the protrusion 925.
  • the straight line a5 is the second transmission part 9234.
  • the straight line a5 can pass through the rotation axis (A1) (see Figure 19).
  • each micro switch 927 when one of each micro switch 927 is referred to as a first micro switch 927a and the other is referred to as a second micro switch 927b, the first micro switch 927a and the second micro switch 927b
  • the switch 927b can detect a 180-degree rotation of the protrusion 925.
  • the protrusion 925 presses the operation lever of the first micro switch 927a
  • the first micro switch 927a is turned on.
  • the protrusion 925 rotates 180 degrees and presses the operation lever of the second micro switch 927b
  • the second micro switch 927b is turned on.
  • an electrical signal corresponding to the on operation of the micro switches 927a and 927b may be transmitted to the control unit 940 of the charging station 900. . Accordingly, it can be detected that the seating plate 921 has been rotated 180 degrees.
  • Figure 22 is a plan view of a charging station according to an embodiment of the present invention.
  • the charging unit 930 is provided with a power supply terminal 936 for charging the robot 1.
  • the charging unit 930 may be coupled to the upper part of the rotating unit 920. More specifically, the charging unit 930 may be coupled to and disposed on the upper surface of the seating plate 921. Accordingly, when the seating plate 921 of the rotating unit 920 rotates, the charging unit 930 can rotate together. Furthermore, when the charging unit 930 and the robot 1 are combined, the robot 1 can also be rotated by the rotation of the seating plate 921.
  • the charging unit 930 may include a charging unit body 931 and a coupling groove 932.
  • the charging unit body 931 forms the exterior of the charging unit 930.
  • the charging unit main body 931 may be configured in a hexahedral shape with a space formed therein.
  • the power supply terminal 936 may be provided on the upper surface of the charging unit body 931.
  • the charging unit main body 931 is connected to the left and right wheels 310 of the robot 1 based on the state in which the robot 1 is climbing on the rotating unit 920, that is, the robot 1 is stationary on the seating plate 921. is placed between
  • the height from the upper surface of the seating plate 921 to the upper surface of the charging unit main body 931 where the power supply terminal 936 is disposed is the height of the robot 1 from the ground. It is configured to be lower than the height of the bottom of the coupling bar 151.
  • the charging terminal 152 of the robot 1 and The power supply terminals 936 of the charging unit 930 face each other vertically.
  • the charging terminal 152 can be coupled to the power supply terminal 936 by driving the robot 1 to land on the power supply terminal 936.
  • the coupling groove 932 is a configuration into which the coupling member of the robot 1 is inserted when the charging terminal 152 of the robot 1 and the power supply terminal 936 of the charging station 900 are coupled to each other. It is disposed at the upper part of the main body 931.
  • the coupling member of the robot 1 may mean a coupling bar 151 provided on the lower surface cover 150 of the robot 1.
  • the shape of the coupling groove 932 may be formed in a V-shape or a U-shape, but is not limited and is deformable as long as it has a corresponding shape so that the coupling member 151 of the robot 1 can be inserted.
  • the coupling groove 932 is U-shaped so that the coupling member 151 can be stably inserted. It is desirable to have a shape.
  • the charging station 900 of the present invention is provided with a coupling groove 932 and is configured to insert the coupling member 151 into the coupling groove 932, so that contact between the charging terminal 152 and the power supply terminal 936 is achieved. It can be guided to be done in the correct location.
  • Figure 23 is a diagram for explaining the release of the locking coupling between the robot and the charging station in the charging station according to an embodiment of the present invention
  • Figure 24 is a diagram for explaining the unlocking of the locking coupling between the robot and the charging station in the charging station according to an embodiment of the present invention. This is a drawing to explain the locking connection between the robot and the charging station.
  • the charging unit 930 may further include a coupling hook 933.
  • the engaging hook 933 is disposed in the engaging groove 932.
  • the coupling hook 933 is configured to engage with the inserted coupling member 152, and serves to secure the coupling member 151 to the coupling groove 932. That is, the coupling member 151 of the lower cover 150 is caught by the coupling hook 933 of the charging station 900, so that the charging station 900 and the robot body 100 are physically coupled.
  • the coupling hook 933 is rotatably coupled to the coupling groove 932.
  • the coupling hook 933 is caught on the coupling member 151 of the robot main body 100 when the charging station 900 is coupled to the robot main body 100. More specifically, one end of the coupling hook 933 is fixed to the coupling member 151. At the other end of the coupling hook 933, a locking protrusion that catches the hook link 934 is formed.
  • the charging unit 930 may further include a hook link 934.
  • the hook link 934 serves to prevent the engagement between the coupling hook 933 and the coupling member 151 from loosening when the coupling hook 933 is caught on the coupling member 151 of the robot 1.
  • the hook link 934 is disposed in the internal space of the charging unit main body 931. More specifically, the hook link 934 is rotatably disposed inside the charging unit main body 931.
  • a locking protrusion is formed that catches the locking protrusion of the coupling hook 933.
  • the locking protrusion of the coupling hook 933 is caught by the locking protrusion of the hook link 934.
  • the other end of the hook link 934 is disposed adjacent to the hook switch 935, which will be described later.
  • the charging unit 930 may further include a hook switch 935.
  • the hook switch 935 serves to release the engagement between the coupling hook 933 and the coupling member 151.
  • One end of the hook switch 935 is exposed to the outside of the charging unit main body 931, and the other end of the hook switch 935 is arranged to be accommodated in the internal space of the charging unit main body 931. More specifically, the hook switch 935 is arranged so that when one end is pressed by an external force, the other end can move linearly within the charging unit main body 931. The other end of the hook switch 935 is adjacent to the other end of the hook link 934.
  • Engaging between the coupling member 151 and the coupling hook 933 proceeds in a process opposite to the coupling release described above.
  • the coupling member 151 is inserted into the coupling groove 932 and presses one end of the coupling hook 933.
  • the coupling hook 933 rotates clockwise.
  • the coupling member 151 is inserted into the coupling groove 932 of the charging unit 930 while being caught in the U-shaped groove of the coupling hook 933.
  • the U-shaped groove of the coupling hook 933 is open toward the side and the coupling groove 932 is open toward the top. Accordingly, the movement of the coupling member 151 is blocked upwardly by the coupling hook 933, and its movement is blocked laterally by the coupling groove 932, and is eventually fixed to the coupling groove 932. At this time, the locking protrusion formed on the other end of the coupling hook 933 and the locking protrusion of the hook link 934 are engaged with each other.
  • the coupling member 151 of the robot 1 is inserted and fixed into the coupling groove 932 of the charging station 900, and at the same time, the charging terminal 152 of the robot 1 and the power supply terminal 936 of the charging station 900 ) are in contact with each other. That is, the robot 1 and the charging station 900 are electrically connected, and power is supplied from the charging station 900 to the robot 1. In other words, the battery 600 of the robot 1 is charged.
  • the power supply terminal 936 is shown to be disposed rearward than the coupling groove 932 (forward, based on the entry direction of the robot 1). However, the power supply terminal 936 may be disposed ahead of the coupling groove 932.
  • the engaging connection between the coupling hook 933 and the coupling member 151 is released only by physical pressure of the hook switch 935, but the coupling hook 933 and the coupling member 151 ) may be released by an electrical signal.
  • a separate power transmission member may be provided and disposed in the inner space of the charging unit main body 931 to rotate the coupling hook 933 and connected to the coupling hook 933.
  • An electrical signal that releases the locking combination may be generated by the control unit 940.
  • the charging unit 930 may further include a light emitting unit 937.
  • the light emitting unit 937 is disposed in the internal space of the charging unit main body 931, and the light emitted from the light emitting unit 937 may be irradiated toward the outside of the charging unit main body 931.
  • the light emitting unit 937 may be an IR LED that emits infrared rays. At this time, the IR LED may be exposed to the front of the charging unit body 931.
  • the robot's IR sensor 533 can detect infrared rays emitted by the light emitting unit 937. When the IR sensor 533 detects infrared rays, the robot 1 moves in the direction in which the infrared rays are detected and can approach the charging station 900.
  • the robot 1 can approach the charging station 900 depending on the IR sensor 533 until the charging station 900 is recognized by the first camera 531 or the second camera 532. After the charging station 900 is recognized by the first camera 531 or the second camera 532 of the robot 1, the posture of the robot 1 is displayed through the first camera 531 or the second camera 532. can climb the charging station 900 by being precisely aligned.
  • the time to search for the charging station 900 can be saved compared to when the charging station 900 is detected based only on the vision of the camera.
  • the charging station 900 may further include a control unit 940.
  • the control unit 940 may be disposed in the interior space of the second accommodation unit 915.
  • the control unit 940 may be installed on a PCB disposed in the inner space of the second accommodation unit 915.
  • the control unit 940 may control the overall operation of the charging station 900.
  • control unit 940 may control the driving of the motor 9231 to rotate the seating plate 921.
  • the control unit 940 can control the seating plate 921 to rotate when the charging terminal 152 of the robot is electrically connected to the power supply terminal 936.
  • the control unit 940 can control the rotation of the seating plate 921 to stop when the seating plate 921 rotates 180 degrees and the micro switch 927 is turned on.
  • control unit 940 may include all types of devices that can process data, such as a processor.
  • 'processor' may mean, for example, a data processing device built into hardware that has a physically structured circuit to perform a function expressed by code or instructions included in a program.
  • a microphone 551 may include a microprocessor, a central processing unit (CPU), a processor core, a multiprocessor, and an ASIC ( It may encompass processing devices such as application-specific integrated circuits (FPGAs) and field programmable gate arrays (FPGAs), but the scope of the present invention is not limited thereto.
  • FPGAs application-specific integrated circuits
  • FPGAs field programmable gate arrays
  • Figure 25 is a flowchart showing the flow of a robot charging method according to an embodiment of the present invention.
  • the charging method of a robot which is an embodiment of the present invention, can be performed by a robot system including a robot 1 and a charging station 900 that supplies power to the robot 1 to charge it.
  • the charging method of the robot may include a climbing step (S100), a combining step (S200), and a rotating step (S300).
  • the climbing step (S100) is a step in which the wheel 310 of the robot 1 climbs on the rotating part 920 of the charging station 900. (S100)
  • the robot 1 may start searching for the charging station 900 according to a user's command or when the remaining charge is below a certain level. As described above, the search for the charging station 900 is performed through cooperation between the IR sensor 533 and the first camera 531 or the second camera 532. The position of the charging station 900 can be obtained as a direction vector with respect to the robot 1. Using this, the robot 1 can align its posture so that the charging station 900 is placed in front of itself (see FIG. 26).
  • the robot 1 can move forward and climb the charging station 900. As described above, the climbing of the charging station 900 is guided by the wheel guide parts 911a and 921a provided on the inclined part 911 and the seating plate 921, and the wheel 310 of the robot 1 is seated. This continues until the plate 921 is inserted into the wheel insertion groove 921b.
  • the robot 1 may sense vibration when the wheel 310 is inserted into the wheel insertion groove 921b.
  • the robot body 100 may be further equipped with a sensing means for detecting the vibration of the wheel 310.
  • the charging station 900 may transmit a control signal corresponding to the robot 1 when the robot detection button 921c disposed in the wheel insertion groove 921b is pressed.
  • the robot 1 can be stopped in the wheel insertion groove 921b by itself or controlled by a control signal (see Figure 27).
  • the coupling step (S200) is a step in which the charging terminal 532 of the robot 1 and the power supply terminal 936 of the charging station 900 are electrically coupled to each other so that power is supplied to the robot 1. .(S200)
  • this step (S200) may include a robot body lowering step (S210) and a robot body fixing step (S220).
  • the robot body lowering step (S210) after the robot 1 stops in the wheel insertion groove 921b, the robot body 100 moves downward and the charging terminal 152 and the power supply terminal 936 contact each other.
  • the robot body 100 is lowered by driving the suspension motor (MS).
  • the suspension motor MS is driven to rotate so that the angle between the first link 210 and the third link 230 is reduced.
  • a decrease in the angle between the first link 210 and the third link 230 means that the distance between the wheel 310 and the robot body 100 becomes closer, that is, the robot body 100 is lowered. it means.
  • the rotational drive of the suspension motor MS continues until the charging terminal 152 and the power supply terminal 936 are contacted and coupled to each other. Accordingly, the robot 1 and the charging station 900 can be electrically connected to each other, and the battery 600 of the robot 1 can be charged.
  • the robot body fixing step (S220) is a step in which the coupling member 151 of the robot 1 and the coupling hook 933 of the charging station 900 are engaged with each other.
  • the coupling member 151 of the robot 1 is inserted into the coupling groove 932 of the charging station 900 and is caught by the coupling hook 933. Accordingly, the robot 1 can be fixed to the charging station 900 despite the restoring force of the gravity compensation unit 215. Since the robot 1 and the charging station 900 are fixed, the suspension motor (MS) no longer needs to be driven, thereby reducing power use. Additionally, when the robot 1 and the charging station 900 are fixed, the electrical connection between the robot 1 and the charging station 900 can be maintained stably without shaking.
  • the display unit 554 of the robot 1 may be tilted backward.
  • the robot body 100 sits down on the charging unit 930 and becomes leaning, and/or the display unit 554 of the robot 1 is tilted backward. Accordingly, the user can intuitively understand that the robot 1 is currently in a waiting state without executing a command.
  • the rotation step (S300) is a step in which the rotation unit 920 of the charging station 900 rotates together with the robot 1 to change the direction in which the front of the robot 1 is facing by 180 degrees.
  • the control unit 940 of the charging station 900 drives and controls the motor 9231 so that the seating plate 921 rotates.
  • the seating plate 921 rotates clockwise or counterclockwise and stops when rotation of 180 degrees is completed based on the previous state. As described above, whether the rotation is 180 degrees can be detected by the protrusion 925 pressing the micro switch 927.
  • the seating plate 921 may be rotated.
  • the rotation of the seat plate 921 is performed. It is desirable to perform this (see Figure 29).
  • the front of the robot 1 refers to the direction in which the display unit 554 faces. Or, it refers to the direction in which the first camera 531 faces.
  • the charging station 900 is generally arranged within a home so that the second accommodating portion 915 faces the wall. That is, before the seating plate 921 rotates, the front of the robot 1 faces the wall, and after the seating plate 921 rotates, the front of the robot 1 turns against the wall. Accordingly, when charging of the robot 1 is completed, it can move forward from the charging station 900 without having to move backward.
  • the robot charging method according to an embodiment of the present invention may further include a release step (S400).
  • step (S400) the coupling between the charging terminal 152 and the power supply terminal 936 is released. That is, the electrical connection between the robot 1 and the charging station 900 is disconnected.
  • release can be accomplished by the user pressing the hook switch 935. Alternatively, release may be achieved by an electrical signal generated by the control unit 940.
  • the robot charging method may further include a return rotation step (S500).
  • the rotating unit 920 rotates to return to its initial position. In other words, the rotating part 920 rotates 180 degrees to return to its original position (see Figure 31).
  • the micro switch 927 that detects rotation in the rotation step (S400) and the micro switch 927 that detects rotation in the return rotation step (S500) are arranged in positions facing each other.
  • the robot 1 when the robot 1 re-enters the charging station 900 for charging, it can enter forward movement.
  • Figure 32 is a flowchart showing the flow of another embodiment of the charging method.
  • the embodiment of FIG. 32 may be performed by a robot system including a robot 1 and a charging station 900 that supplies power to the robot 1 to charge it.
  • the charging method of the robot may include an entry step (S1000), a charging step (S2000), and a withdrawal step (S3000).
  • the entry step (S1000) is a step in which the robot 1 moves to approach the charging station 900 and climbs the station main body 910 of the charging station 900 (see FIGS. 26 and 27).
  • step (S1000) at least one motor among the wheel motor (MW) and the terminal rotation motor 9231 included in the robot system may be driven.
  • the wheel motor MW may be driven as the robot 1 moves to approach the charging station 900 or as the robot 1 moves to climb the station main body 910.
  • the driving of the terminal rotation motor 9231 may occur simultaneously with, or earlier than, the robot 1 approaching the charging station 900.
  • the rotating unit 920 and the charging unit 930 rotate, and the direction of the power supply terminal 936 disposed on the charging unit 930 is changed.
  • the charging terminal 152 and the power supply terminal 936 can be aligned with each other in a direction in which they can be combined.
  • the rotation of the charging unit 930 which occurs simultaneously with or before the robot approaches the charging station, means that the light emitting unit 937, which was facing backwards, rotates to look forward (based on the charging station). 1st rotation
  • the robot 1 can easily navigate the charging station 900.
  • driving of the terminal rotation motor 9231 may occur after the robot 1 climbs the charging station 900.
  • the rotating part 920 and the charging part 930 rotate, and the light emitting part 937, which was facing forward, is rotated to look backward (second rotation).
  • the seating plate 921 and the charging unit 930 rotate together. Since the second rotation is performed after the robot 1 climbs on the seating plate 921, the robot 1 can also rotate together with the charging unit 930 by the second rotation.
  • the robot 1 faces the front of the charging station 900, so that the robot 1 can leave the charging station 900 by moving forward in the departure step (S3000), which will be described later.
  • the charging unit 930 and the robot 1 rotate together in one direction, so the coupling direction of the charging terminal 152 and the power supply terminal 936 remains aligned.
  • the charging step (S2000) is a step in which the charging terminal 152 provided in the robot 1 and the power supply terminal 936 provided in the charging station 900 electrically contact each other. That is, in this step (S2000), power is supplied to the battery 600 of the robot 1 and the robot 1 is charged.
  • the robot body 100 may be moved toward a direction close to the ground.
  • Moving the robot body 100 toward the ground means that the height of the robot body 100 is lowered, that is, the relative height of the upper or lower surface of the robot body 100 is lowered compared to the ground. From another perspective, this may be referred to as the ‘action of sitting on the charging unit 930’ of the robot body 100 (see FIG. 28).
  • the charging terminal 152 disposed on the lower surface of the robot body 100 and the power supply terminal 936 disposed on the upper surface of the charging unit 930 become closer and eventually come into contact with each other. You can.
  • the operation of the robot body 100 sitting on the charging unit 930 may be performed by the suspension motor (MS). More specifically, the suspension motor MS may be driven to rotate so that the angle between the first link 210 and the third link 230 is reduced. From another perspective, the suspension motor MS may rotate and drive the wheel 310 and the robot body 100 to become closer to each other.
  • the suspension motor MS may be driven to rotate so that the angle between the first link 210 and the third link 230 is reduced. From another perspective, the suspension motor MS may rotate and drive the wheel 310 and the robot body 100 to become closer to each other.
  • the height of the robot body 100 is lowered so that the second rotation can be performed after the charging terminal 152 and the power supply terminal 936 come into contact with each other (see FIG. 29).
  • the robot 1 rotates while coupled to the charging unit 930, which has the effect of reducing the shaking of the robot body 100 due to rotation.
  • the departure step (S3000) is a step in which the robot 1 moves away from the charging station 900.
  • Movement of the robot 1 out of the charging station 900 may occur immediately after charging of the robot 1 is completed.
  • the robot 1 may wait at the charging station 900 and then leave the charging station 900 when called by the user.
  • the robot 1 may wait at the charging station 900 and leave the charging station 900 after a certain period of time.
  • the robot 1 may wait at the charging station 900 and then leave the charging station 900 due to the occurrence of a specific event. At this time, a call by a user, detection of the return of a user who has gone out, etc. may correspond to this specific event.
  • the electrical connection between the charging terminal 152 and the power supply terminal 936 that is in contact must be released.
  • the robot body 100 may be moved in a direction away from the ground.
  • the fact that the robot body 100 moves in a direction away from the ground means that the height of the robot body 100 increases, that is, the relative height of the upper or lower surface of the robot body 100 increases compared to the ground. From another perspective, this may be referred to as ‘the operation occurring from the charging unit 930’ of the robot body 100 (see FIG. 30).
  • the charging terminal 152 disposed on the lower surface of the robot body 100 and the power supply terminal 936 disposed on the upper surface of the charging unit 930 move apart, thereby losing electrical contact between them. do.
  • the operation of the robot body 100 from the charging unit 930 may be performed by the suspension motor (MS). More specifically, the suspension motor MS may be driven to rotate so that the angle between the first link 210 and the third link 230 increases. From another perspective, the suspension motor MS may rotate and drive the wheel 310 and the robot body 100 to move away from each other.
  • the suspension motor MS may be driven to rotate so that the angle between the first link 210 and the third link 230 increases. From another perspective, the suspension motor MS may rotate and drive the wheel 310 and the robot body 100 to move away from each other.
  • the movement of the robot body 100 from the charging unit 930 may be achieved by the restoring force of the gravity compensation unit 215. Even at this time, the angle between the first link 210 and the third link 230 increases, so the suspension motor MS can be driven to rotate.
  • the posture change of the robot body 100 may occur at least once throughout the entry step (S1000), the charging step (S2000), and the leaving step (S3000).
  • changing the posture of the robot body 100 may include changing the height of the robot body 100.
  • the height of the robot body 100 may be changed in the charging step (S2000) or the leaving step (S3000).
  • a change in the height of the robot body 100 may include increasing or decreasing compared to the reference height.
  • Change in the posture of the robot body 100 may include rotation of the robot body 100.
  • the rotation of the robot body 100 may be performed in the entry step (S1000).
  • the rotation of the robot body 100 may be performed in the charging step 2000 (see FIG. 29).
  • a change in the posture of the robot body 100 may mean rotation of the display unit 554 of the robot body 100.
  • rotation of the display unit 554 may mean that the display unit 554 rotates backward and is tilted.
  • this may mean that the display unit 554, which was in a tilted state, rotates toward the front and rises.
  • Rotation of the display unit 554 may be performed in the charging step (S2000) or the withdrawal step (S3000) (see FIGS. 28 and 30).
  • the rotation direction of the wheel motor MW in the entry step (S1000) and the departure step (S3000) may be in one direction.
  • the wheel motor MS may rotate in the direction in which the robot body 100 moves forward.
  • This one-way rotation may be implemented by rotation (second rotation) of the robot body 100 made in the entry step (S1000) or the charging step (S2000).
  • the rotation direction of the suspension motor (MS) in the entry step (S1000) and the rotation direction of the suspension motor (MS) in the departure step (S3000) may be opposite to each other.
  • the suspension motor (MS) rotates in a direction that implements the sitting motion of the robot body 100
  • the suspension motor (MS) rotates in the direction of implementing the sitting motion of the robot body 100. It can be rotated in the direction that implements the action.
  • the suspension motor (MS) rotates in a direction that implements the occurring motion of the robot body 100
  • the suspension motor (MS) rotates the robot body ( It can be rotated in a direction to implement the sitting motion of 100).
  • the relative height of the power supply terminal 936 with respect to the ground is higher than the relative height of the charging terminal 152 with respect to the ground, based on the state in which the wheel 310 of the robot 1 is climbing on the seating plate 921.
  • the seating plate is configured to rotate 180 degrees after the robot is coupled to the charging station, so both the robot entering the charging station and the moving away from the charging station are possible with forward movement. . Accordingly, there is an advantage in that both entry and exit of the robot from the charging station are facilitated.
  • the coupling hook of the charging station and the coupling member of the robot are engaged with each other, thereby enabling fixed coupling between the robot and the charging station. Therefore, power supply to the robot can be maintained stably during charging.
  • any flow chart, flowchart, state transition diagram, pseudocode, etc. may be substantially represented in a computer-readable medium to describe various types of data executable by a computer or processor, whether or not explicitly shown. It will be appreciated by those skilled in the art that it represents a process.
  • the above-described embodiments of the present disclosure can be written as a program that can be executed on a computer, and can be implemented in a general-purpose digital computer that operates the program using a computer-readable recording medium.
  • the computer-readable recording media may include storage media such as magnetic storage media (eg, ROM, floppy disk, hard disk, etc.) and optical read media (eg, CD-ROM, DVD, etc.).
  • processor or “control section” should not be construed to refer exclusively to hardware capable of executing the software, including, without limitation, digital signal processor (DSP) hardware, read-only for storing the software.
  • DSP digital signal processor
  • ROM Read Only Memory
  • RAM random access memory
  • non-volatile storage may be implicitly included.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Power Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Manipulator (AREA)

Abstract

La présente invention concerne une borne de recharge de robot et un procédé de recharge d'un robot. Selon un mode de réalisation, la borne de recharge comprend : un corps de borne ayant un espace formé en son sein et placé sur le sol de telle sorte que le robot peut s'approcher et monter sur le corps de borne ; une partie rotative qui est disposée sur le corps de borne et est accouplée pour pouvoir tourner par rapport au corps de borne ; et une partie de charge qui est accouplée à la partie supérieure de la partie rotative, est mise en rotation conjointement avec la partie rotative en raison de la rotation de la partie rotative, et est pourvue d'une borne d'alimentation électrique pour recharger le robot.
PCT/KR2023/006420 2022-06-14 2023-05-11 Borne de recharge de robot et procédé de recharge de robot Ceased WO2023243867A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN202380047038.1A CN119365302A (zh) 2022-06-14 2023-05-11 机器人的充电基站和机器人的充电方法
EP23824093.1A EP4527563A4 (fr) 2022-06-14 2023-05-11 Borne de recharge de robot et procédé de recharge de robot

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KR10-2022-0072016 2022-06-14
KR1020220072016A KR102781080B1 (ko) 2022-06-14 2022-06-14 로봇의 충전 스테이션 및 로봇의 충전 방법

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WO2023243867A1 true WO2023243867A1 (fr) 2023-12-21

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EP (1) EP4527563A4 (fr)
KR (1) KR102781080B1 (fr)
CN (1) CN119365302A (fr)
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